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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Removal of Debris Blocking an Entryway: Inverse Kinematic Control and Balancing Controller Design for Humanoid

휴머노이드 로봇의 입구 통로를 막고 있는 잔해 제거를 위한 역 기구학 제어와 자세 제어기 설계

  • Lee, In-Ho (Mechnical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim, Inhyeok (Rainbow Dynamics Inc.) ;
  • Oh, Jun-Ho (Mechnical Engineering, Korea Advanced Institute of Science and Technology)
  • Received : 2014.07.07
  • Accepted : 2014.09.15
  • Published : 2014.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

The humanoid robot, DRC-HUBO is developed from the KHR (KAIST Humanoid Robot) series to meet the requirements of the DARPA Robotics Challenge. DARPA Robotics Challenge was a competition to develop semi-autonomous humanoid robot so that dispatched in dangerous environments in place of humans like the Fukushima nuclear accident. In this paper, we introduce DRCH-UBO briefly and a methodology to remove debris blocking an entryway. The methodology includes inverse kinematics for DRC-HUBO and stabilization controller based on ZMP. Proposed inverse kinematics is robust, and pelvis-related tasks improve the manipulability and workspace of the arms. The controller improves the damping characteristic of the system and mitigates the instability during removal of debris. For given position and orientation of the debris, DRC-HUBO generates motion to reach the debris and lift up while stabilizing itself. Many experimental results verify our proposed methodology.

Keywords

References

  1. B. Siciliano, "A closed-loop inverse kinematic scheme for online joint-based robot control," Robotica, vol. 8, no. 3, pp. 231-243, 1990. https://doi.org/10.1017/S0263574700000096
  2. B. Siciliano and J.-J. E. Slotine, "A general framework for managing multiple tasks in highly redundant robotic systems," Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on. IEEE, 1991.
  3. I. Kim and J.-H. Oh, "Inverse Kinematic control of humanoids under joint constraints," International Journal of Advanced Robotic Systems, 2013.
  4. M. Vukobratovic and B. Borovac, "Zero-moment point-thirty five years of its life," International Journal of Humanoid Robotics, vol. 1, no. 01, pp. 157-173, 2004. https://doi.org/10.1142/S0219843604000083
  5. J. Y. Kim, I. W. Park, J. Lee, M. S. Kim, B. K. Cho, and J. H. Oh, "System design and dynamic walking of humanoid robot KHR-2," Robotics and Automation, 2005. ICRA 2005. Proc. of the 2005 IEEE International Conference on. IEEE, 2005.
  6. I.-W Park, et al., "Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot 3: HUBO)," Humanoid Robots, 2005 5th IEEE-RAS International Conference on. IEEE, 2005.
  7. M. Gienger, H. Janssen, and C. Goerick, "Task-oriented whole body motion for humanoid robots," Humanoid Robots, 2005 5th IEEE-RAS International Conference on, IEEE, 2005.
  8. I. H. Lee, I. H. Kim, H. I. Bae, H. B. Jeong, G. G. Lee, and J. H. Oh, "Removal of debris blocking an entryway: inverse kinematic control of humanoid robot, DRC-HUBO," Proc. of 2014 29th ICROS Annual Conference (ICROS 2014) (in Korean), Daegu, Korea, pp. 67-68, 2014.

Cited by

  1. Development of an Experimental Humanoid Robot and Dynamics Based Motion Optimization for Rescue Missions vol.21, pp.8, 2015, https://doi.org/10.5302/J.ICROS.2015.15.0090