http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : 전권수(Kweons Jeon) (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
-
전권수(Kweon Soo Jeon),권오흥(Ohung Kwon),박종현(Jong Hyeon Park) Korean Society for Precision Engineering 2006 한국정밀공학회지 Vol.23 No.4
In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.
-
드라이빙 시뮬레이터를 활용한 차량속도에 따른 차간거리 허용한계치 원리연구
임성현(Sung-Hyun Lim),임형욱(Hyoung-Uk Lim),정인용(Inyong Jung),전권수(Kweons Jeon) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
The purpose of the study is to investigate the minimal acceptable distance between two adjacent vehicles using a driving simulator. One factor within subject design was adopted for the experiment. As independent variable, the relative velocity between two adjacent vehicles was selected. The relative velocity had 5 levels: 0, 20, 40, 60, 80㎞/h. For the statistical analyses, the minimal acceptable distance between two adjacent vehicles and time-to-collision (TTC) were selected as dependent variables. The TTC means the value that the minimal acceptable distance divided by the relative velocity at the time that the driver started to press the brake pedal. Thirteen drivers participated in the experiment. The subjects were asked to drive at 100㎞/h and to press the brake pedal at the moment when he felt that the vehicle could collide with a preceding vehicle. The velocity of the preceding vehicle was randomly selected among 0, 20, 40, 60, 80㎞/h. The each treatment was repeated 3 times. The subjects drove a simulated track course for 15 minutes. The results showed that 1) the minimal value of the TTC at the moment when the subjects pressed the brake pedal was about 2 seconds, regardless of the relative velocities of two adjacent vehicles 2) as the relative velocity of two adjacent vehicles increased, the average value of the TTC decreased. The differences among driver’s braking behavior patterns were discussed
ScienceON
DBpia연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
