Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control System Design of Pelvis Platform for Biped Walking Stability

이족보행 안전성을 위한 골반기구의 제어시스템 설계

  • 김수현 (목원대학교 IT공학과 대학원) ;
  • 양태규 (목원대학교 지능로봇공학과)
  • Published : 2009.03.01
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Abstract

The pelvis platform is the mechanical part which accomplishes the activities of diminishing the disturbances from the lower body and maintaining a balanced posture. When a biped robot walks, a lot of disturbances and irregular vibrations are generated and transmitted to the upper body. As there are some important machines and instruments in the upper body or head such as CPU, controller units, vision system, etc., the upper part should be isolated from disturbances or vibrations to functions properly and finally to improve the biped stability. This platform has 3 rotational degrees of freedom and is able to maintain balanced level by feedback control system. Some sensors are fused for more accurate estimation and the control system which integrates synchronization and active filtering is simulated on the virtual environment.

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References

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