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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Strategies for Driving and Egress for the Vehicle of a Humanoid Robot in the DRC Finals 2015

DRC Finals 2015 에서 휴머노이드 로봇의 자동차 운전과 하차에 관한 전략

  • Ahn, DongHyun (Department of Mechanics and Design, Kookmin University) ;
  • Shin, JuSeong (Department of Mechanics and Design, Kookmin University) ;
  • Jun, Youngbum (Howard R. Hughes College of Engineering, University of Nevada) ;
  • Sohn, Kiwon (Samuel I. Ward Department of Electrical and Computer Engineering University of Hartford) ;
  • Jang, Giho (Howard R. Hughes College of Engineering, University of Nevada) ;
  • Oh, Paul (Howard R. Hughes College of Engineering, University of Nevada) ;
  • Cho, Baek-Kyu (School of Mechanical System Engineering, Kookmin University)
  • Received : 2016.08.26
  • Accepted : 2016.10.18
  • Published : 2016.11.01
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Abstract

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.

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References

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