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

Korea Institute of Electronic Communication Science (한국전자통신학회)
권호 표지
DOI QR코드

DOI QR Code

Stair Locomotion Method of Quadruped Robot Using Genetic Algorithm

유전 알고리즘을 이용한 4족 로봇의 계단 보행 방법

  • Received : 2015.08.10
  • Accepted : 2015.09.23
  • Published : 2015.09.30
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.

본 논문에서는 곤충형 다리 구조를 갖는 4족 로봇의 효율적인 계단 보행을 위해 유전 알고리즘(Genetic Algorithm: GA)에 기반한 계단 보행 방법을 제안한다. 제안한 방법에서는 우선 계단 보행을 위한 요소와 도달 영역을 정의한다. 또한 GA 수행을 위한 유전자와 적합도 함수를 설정하고, GA를 이용하여 최소 이동 거리와 최적 에너지 안정도 여유(Energy Stability Margin: ESM)을 갖는 4족 로봇의 착지 지점을 탐색하여 걸음새 궤적을 생성한다. 마지막으로, 컴퓨터 시뮬레이션을 통해 본 논문에서 제안한 계단 보행 방법의 효용성 및 우수성을 검증한다.

Keywords

References

  1. Y. Choi, D. Kim, and K. Kim, "GA Based Locomotion Method for Quadruped Robot with Waist Joint to Walk on the Slop," J. of the Korea Institute of Electronic Communication Sciences, vol. 8, no. 11, 2013, pp. 1665-1673. https://doi.org/10.13067/JKIECS.2013.8.11.1665
  2. B. Huang, L. Sun, and Y. Luo, "Statically Balanced Stair Climbing Gait Research for A Hybrid Quadruped Robot," Proc. of Int. Conf. on Mechatronics & Automation, Zhengzhou, China, 2005, pp. 2067-2071.
  3. E. Nakano and S. Nagasaka, "Leg-Wheel Robot A Futuristic Mobile Platform for Forestry Industry," Proc. of the 1993 IEEER Tsukuba Int. Workshop on Advanced Robotics, Tsukuba, 1993, pp. 109-112.
  4. E. Z. Moore, D. Campbell, F. Grimminger, and M. Buehler, "Reliable Stair Climbing in the Simple Hexapod 'RHex'," Proc. of IEEE Int. Conf. on Robotics and Automation, Washington, DC, 2002, pp. 2222-2227.
  5. K. Suwannasit and S. Laksanachawen, "A bio-inspired hybrid leg-wheel robot," 2004 IEEE Region 10 Conf., vol. 4, Tencon, 2004, pp. 495-497.
  6. J. Kim, I. Park, and J. Oh,"A Study on Control Algorithm for Stair Climbing of Biped Humanoid Robots," Proc. of the 20th Korean Automatic Control Conf., Beijing, China, 10. 2005, pp 660-666.
  7. T. K. Brewer, "Development of a Quadruped robot and Parameterized Stair Climbing Behavior," University of Maryland, M. S. Thesis, 2011.
  8. C. Ko, S. Chen, C. Li, and P. Lin, "Trajectory Planning and Four-leg Coordination for Stair Climbing in a Quadruped Robot," Proc. of Int. Conf. on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 5335-5340.
  9. J. Byun and Y. Choi, "An Efficient Stair Locomotion Method of Quadruped Robot with Mechanism of Insectile Leg," J. of the Korea Institute of Electronic Communication Sciences, vol. 10, no. 3, 2015, pp. 395-402. https://doi.org/10.13067/JKIECS.2015.10.3.395
  10. E. Lee, "A Study on the intelligent walking algorithm of a biped walking robot," University of Hankyong, M. S. Thesis, 2004.
  11. Y. Choi, D. Kim, and K. Kim, "GA Based Locomotion Method for Quadruped Robot with Waist Joint to Walk on the Slop," J. of the Korea Institute of Electronic Communication Sciences, vol. 8, no. 11, 2013, pp. 1665-1673. https://doi.org/10.13067/JKIECS.2013.8.11.1665