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이족 보행 로봇을 위한 자동 모션 제너레이터 및 시뮬레이터
최형식(H. S. Choi),전창훈(C. H. Jeon),오주환(J. H. Oh) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
For stable walking of various biped walking robots(BWR), we need to know the kinematics, dynamics and the Zero Moment of Point(ZMP) which are not easy to analyze analytically. In this reason, we developed a simulation program for BWRs composed of 4 degree-of-freedom upper-part body and 12 degree-of-freedom lower-part of the body. To operate the motion simulator for analyzing the kinematics and dynamics of BWES, inputs for the distance between legs, base angle, choice of walking type, gaits, and walking velocity are necessary. As a result, if stability condition is satisfied by the simulation, angle data for each actuator are generated automatically, and the data are transmitted to BWRS and then, they are actuated by the motion data. Finally, we validate the performance of the proposed motion simulator by applying it to a constructed small sized BWR.
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정인희,원예연,전창훈,안재인,박병문,김병석 대한골절학회 1995 대한골절학회지 Vol.8 No.2
The authors analysed 220 patients (225 cases) of complications including implant failure and refracture in fracture treatment which had been requested for medical consultation by the Korean Automobile, Fire k Marine Insurance Co., Ltd. from July 1984 to December 1992. The results were as follows: 1. The patients were consisted of 178(81%) males and 42(19%) females. 2. The average age of patients was 36.9 years. 3. There were 140(60%) cases of femur, 63(29%) cases of tibia and 12(5%) cases of humerus. 4. The most common previous mode of treatment was plate and screw fixation (183 cases, 83%). 5. There were 171(78%) cases of metal failure, 14 cases of secondary fracture and 14 cases of refracture. 6. Among the causes of complications, improper postoperative care (156 cases, 71%) was the most common causes of complications. 7. It is recommended that in the operative treatment of fracture, orthopaedic surgeon should obey the AO principles and proper postoperative care and also consider the conservative treatment as a good counter part of the operative treatment.
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