Byoung-Ho Kim

Performance Index-Based Evaluation of Quadruped RoboticWalking Configuration

This paper presents a performance index-based evaluation for a better quadruped robotic walking configuration. For this purpose, we propose a balance-based performance index that enables to evaluate the walk configuration of quadruped robots in terms of balance. In order to show the effectiveness the proposed performance index, we consider some types of walking configurations for a quadruped robotic walking and analyze the trend of the proposed performance index in those quadrupedal walking. Through the simulation study, it is shown that an effective walk configuration for a quadrupedal walking can be planned by adopting the proposed performance index.

Analysis of Balance of Quadrupedal Robotic Walk using Measure of Balance Margin

In this study, we analyze the balance of quadruped walking robots. For this purpose, a simplified polygonal model of a quadruped walking configuration is considered. A boundaryrange-based balance margin is used for determining the system stability of the polygonal walking configuration considered herein. The balance margin enables the estimation of the walking configuration’s balance for effective walking. The usefulness of the balance margin is demonstrated through exemplary simulations. Furthermore, balance compensation by means of foot stepping is addressed.

Task-Based Analysis on Number of Robotic Fingers for Compliant Manipulations

This paper presents a task-based analysis on the number of independent robotic fingers required for compliant manipulations. Based on the stiffness relation between operational space and fingertip space of a multi-fingered object manipulating system, we describe a technique for modulation of the fingertip stiffness without inter-finger coupling so as to achieve the desired stiffness specified in the operational space. Thus, we provides a guideline how many fingers are basically required for successful multi-fingered compliant tasks. Consequently, this paper enables us to assign effectively the number of fingers for various compliant manipulations by robot hands.

Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots

In this study, we analyse the work of bipedal walking robots with compliant feet. For this purpose, a walking model of bipedal robots with compliant feet is considered. The ligamentous structure of the human foot is used for the compliant feet mechanisms of the bipedal robot considered herein. A work principle is used for determining the corresponding work at the joint space of the compliant legs according to the reaction force which is propagated from the foot space. The usefulness of the work analysis is demonstrated through exemplary simulations. Consequently, it is shown that the work analysis can be used for evaluating the fatigue of the bipedal robot accumulated by the physical walking impact between the supporting foot and the contact surface. Furthermore, comfortable walking by means of footgear with a compliance is addressed.

Optimal Foot Trajectory Planning of Bipedal Robots Based on a Measure of Falling

This paper presents a falling-based optimal foot trajectory planning method (FOFTP) for the effective walking of bipedal robots in three-dimensional space. Our primary concern is to determine the optimal footstep location for the more balanced walking of bipedal robots based on a measure of falling. A proper strategy for the intermediate trajectory of the swing foot is also considered. The feasibility of the FOFTP method is verified by a typical bipedal walking simulation. We also discuss the walking efficiency of the proposed approach. It is finally shown that the proposed foot trajectory planning method is applicable for the effective walking of bipeds or humanoid robots.

Falling-based optimal foot trajectory planning for 3D bipedal robotic walking

This paper presents a falling-based optimal foot trajectory planning method (FOFTP) for effective walking of bipedal robots in three-dimensional space. Our primary concern is to determine the optimal footstep location for the walking of bipedal robots based on a measure of falling. A proper strategy for the intermediate trajectory of the swing foot is also presented. The availability of the proposed FOFTP method is verified by simulation for an exemplary bipedal walking. It is finally expected that the proposed FOFTP method is available for effective task-based bipedal manipulation.

An Adaptive Neural Network Learning-based Solution for the Inverse Kinematics of Humanoid Fingers

This paper presents an adaptive neural network learning-based solution for the inverse kinematics of humanoid fingers. For the purpose, we specify an effective finger model by considering the interphalangeal joint coordination inherent in human fingers. In order to find a proper joint combination for any fingertip trajectory, we propose an adaptive learning scheme by using a multi-layered neural network. It is interesting to use an adaptive learning rate algorithm that leads the neural network to get the inverse kinematic solution quickly. The usefulness of the proposed approach is verified by exemplary simulations for the general motion of humanoid fingers.

A Method for Inverse Kinematic Solutions of 3R Manipulators with Coupling

In order to control a robot manipulator, we need to determine the joint combination of the manipulator for the given end-effector’s position. This paper presents a neural learning-based method for the inverse kinematic solutions of a 3R manipulator that has three revolute joints with a coupling. Especially, we use a neural learning algorithm for effective learning of a multi-layered neural network. The usefulness of the proposed approach is verified by simulations.

Analysis on elastic strap-based rehabilitation of elbow joint

This paper analyses the elastic strap-based rehabilitation of the elbow joint of human arms. The basic idea is that an elastic strap can be used as a tool for the typical elbow joint exercise or rehabilitation. Such an elastic strap has been modeled as a linear spring with a stiffness in this paper, and then we consider a stiffness-based elbow training mechanism for the purpose of rehabilitation of the elbow joint. For effective rehabilitation training by using such a mechanism, we need to analyse the available torque characteristics exerted on the elbow joint according to the stiffness level of the strap. Through various simulations, we identify a torque pattern and a range of the elbow joint available for effectively perform a level of elbow rehabilitation. Finally, we show that the specified stiffness-based exercise scheme can give us a guideline for effective rehabilitation of the elbow joint. In addition, we address the reason why our analysis is helpful for a rehabilitation trainee or trainer. Practically, this analysis can contribute to determine a proper load for appropriate elbow rehabilitation.

Torque characteristics of shoulder and elbow joints of assistive robotic arms handling an object

This paper analyses the torque characteristics of the shoulder and elbow joints of an assistive robotic arm for handling an object. In order to investigate those torque characteristics, we consider a model of a humanoid robot arm and simulate typical object lifting and transferring tasks by using the robot arm. Several simulations will show that the available torque patterns and ranges of the shoulder and elbow joints required for the load effect of an object can be identified earlier in the design process of a robotic arm. As a result, this study is helpful for us to determine effectively the specifications of any actuators employed in the shoulder and elbow joints of various humanoid and robotic arms. It is also valuable for a rehabilitation doctor to determine an adequate exercise prescription for an arm rehabilitation using a load.