Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Posture Optimization for a Humanoid Robot using Particle Swarm Optimization

PSO를 이용한 휴머노이드 로봇의 최적자세 생성

  • Yun, JaeHum (Department of Electronic Engineering, Dong-A University) ;
  • Chien, Dang Van (Department of Electronic Engineering, Dong-A University) ;
  • Tin, Tran Trung (Department of Electronic Engineering, Dong-A University) ;
  • Kim, Jong-Wook (Department of Electronic Engineering, Dong-A University)
  • Received : 2014.05.28
  • Accepted : 2014.07.01
  • Published : 2014.08.25
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Abstract

Humanoid robot is the most suitable robot platform for effective human and robot interaction. However, the robot's complicated body structure containing more than twenty joint actuators makes it difficult to generate stable and elaborate postures using the conventional inverse kinematic method. This paper proposes an alternative approach to generate difficult postures of touching an object placed in front of the foot by the left or right hand with its torso bent forward in single support phase using the fast computational optimization method, particle swarm optimization. The simulated postures are also applied to a commercial humanoid robot platform, which validates the feasibility of the proposed approach.

휴머노이드 로봇은 인간-로봇 상호작용에 가장 효과적인 로봇 플랫폼이지만 20개 이상의 관절로 구성되어 있을 만큼 복잡한 구조여서 전통적인 역기구학적 방법으로 안정되면서도 정교한 자세를 생성하기가 어렵다. 본 논문에서는 고속 연산최적화 기법인 Particle Swarm Optimization 기법을 사용해서 앞쪽 지면에 놓인 물체를 단측지지 상태로 상체를 굽혀서 왼팔이나 오른팔로 집는 고난도의 자세를 생성하고, 이를 상용 휴머노이드 로봇 플랫폼에 적용하여 검증함으로써 제안 된 방법의 적용 가능성을 확인한다.

Keywords

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