대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

이족보행로봇(IWR-III)의 통합 저어 환경 구축

Implementation of Integrated Control Environment for Biped Robot(IWR-III)

  • 노경곤 (인하대학교 자동화공학과) ;
  • 서영섭 (인하대학교 자동화공학과) ;
  • 김진걸 (인하대학교 자동화공학과)
  • 발행 : 1999.07.19
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초록

To control IWR-III Biped Waking Robot, those complex modules are necessary that concurrent control multi-axes servo motors, PID & Feedforward gain tuning, initial value calibration, display current status of system, user interface for emergency safety and three-dimensional rendering graphic visualization. It is developed for various-type gait $data^{[1]}$ and for control modes (i.e open/closed loop and pulse/velocity/torque control) that Integrated Control Enviroment with GUI( Graphic User Interface) consist of time-buffered control part using MMC (Multi-Motion Controller) and 3D simulation part using DirectX graphic library.

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