Korea Institute of Science and Technology

Yong Hwan Oh

Bum Jae You

Do Ik Kim

Chang Hwan Kim

Young Jin Choi

Bum-Jae You

Doik Kim

Seok Min Hong

Youngjin Choi

Young Hwan Chang

Jung San Cho

Young-Hwan Chang

A temporary earth-retaining structure uses a guide bracket. Tensile force can be directly applied to a pile by using a guide bracket having a simple structure. Mudslide and collapse caused by the earth pressure of backfill soil can be more effectively prevented by means of the tensile force directly applied to the pile. In addition, the guide bracket according to embodiments of the present invention has a simpler structure and is more easily constructed than a conventional bracket, and thus can be constructed at very low cost.

Temporary earth-retaining structure using guide bracket, and construction method therefor

A provisional facility for retaining earth using a guide bracket and a ground anchor for stepwise retention during deep excavation includes multiple thumb piles disposed vertically at predetermined intervals, a wale disposed across the multiple thumb piles, a guide bracket installed at a predetermined position of the wale, and a ground anchor having the other side anchored to a ground while a tensile member is wound around the guide bracket.

Provisional facility for retaining earth by using ground anchors and guide brackets for stepwise retention during deep excavation, and method for constructing same

The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.

Method for controlling the walk of humanoid robot

Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.

Apparatus and method for balancing and damping control in whole body coordination framework for biped humanoid robot

The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.

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Seoul, South Korea

Yong Hwan Oh