The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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GA Based Locomotion Method for Quadruped Robot with Waist Joint to Walk on the Slop

허리 관절을 갖는 4족 로봇의 GA 기반 경사면 보행방법

  • 최윤호 (경기대학교 전자공학과) ;
  • 김동섭 (경기대학교 전자공학과) ;
  • 김국화 (한국기계연구원 첨단생산장비연구본부)
  • Received : 2013.09.10
  • Accepted : 2013.11.15
  • Published : 2013.11.30
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Abstract

In this paper, we propose a genetic algorithm(GA) based locomotion method of a quadruped robot with waist joint, which makes a quadruped robot walk on the slop efficiently. In the proposed method, we first derive the kinematic model of a quadruped robot with waist joint and then set the gene and the fitness function for GA. In addition, we determine the best attitude for a quadruped robot and the landing point of a foot in the walk space, which has the optimal energy stability margin(ESM). Finally, we verify the effectiveness of the proposed method by comparing with the performance of the previous method through the computer simulations.

본 논문에서는 허리 관절을 갖는 4족 로봇의 효율적인 경사면 보행을 위해 유전 알고리듬(Genetic Algorithm: GA)을 이용한 경사면 보행 방법을 제안한다. 제안한 방법에서는 먼저, 허리 관절을 갖는 4족 로봇의 기구학적 모델을 유도하며, GA를 수행하기 위한 유전자 및 적합도 함수를 설정한다. 또한, 경사면에서 최적의 에너지 안정여유도(Energy Stability Margin: ESM)를 갖는 4족 로봇의 자세와 도달 영역 내의 발끝 착지 지점을 GA를 이용하여 자동으로 탐색하여 보행한다. 마지막으로, 4족 보행 로봇의 모의 실험을 통해 기존 방법과 비교함으로써 본 논문에서 제안한 방법의 효용성을 검증한다.

Keywords

References

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