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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Simulation Based for Intelligent Control System of Multi - Humanoid Robots for Stable Load Carrying

시뮬레이션에 기반한 휴머노이드 로봇 두 대의 안정적인 물체 운반 및 제어 연구

  • 김한근 (경희대학교 전자.전파공학과) ;
  • 김형진 (경희대학교 전자공학과) ;
  • 박원만 (경희대학교 기계공학과) ;
  • 김윤혁 (경희대학교 기계공학과) ;
  • 김동한 (경희대학교 전자공학과) ;
  • 안진웅 (대구 경북과학기술원 실용로봇연구소)
  • Published : 2010.02.01
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Abstract

This paper proposes an intelligent PID/Fuzzy control system for two humanoid robots to transport objects stably. When a robot transports an object while walking, a whole body system of a robot may not be stable due to vibration or external factors from a different departure speed error and a body movement of walking robots. Therefore, it is necessary to measure the horizontal and vertical locations and speeds of object, then calibrate the difference of departure speed between robots with PID/Fuzzy control. The results of simulation with two robots indicated that a proposed controller makes robots to transport an object stably.

Keywords

References

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