로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제16권2호
  • /
  • Pages.147-154
  • /
  • 2021
  • /
  • 1975-6291(pISSN)
  • /
  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지
DOI QR코드

DOI QR Code

이족 보행 로봇을 위한 빠르고 안전한 접촉 생성 전략

Fast and Safe Contact Establishment Strategy for Biped Walking Robot

  • Lee, Hosang (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Jung, Jaesug (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Ahn, Junewhee (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Park, Jaeheung (Graduate School of Convergence Science and Technology, Seoul National University, Advanced Institutes of Convergence Technology)
  • 투고 : 2021.01.12
  • 심사 : 2021.02.26
  • 발행 : 2021.05.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

키워드

과제정보

This work was supported by the Technology Innovation Program (No. 10060081) funded by the Ministry of Trade, Industry & Energy (MI, Korea) and by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2021R1A2C3005914)

참고문헌

  1. N. Hogan, "Impedance Control: An Approach to Manipulation: Part I - Theory," Journal of Dynamic Systems, Measurement, and Control, vol. 107, no. 1, pp. 1-7, 1985, DOI: 10.1115/1.3140702.
  2. M. H. Raibert and J. J. Craig, "Hybrid Position/Force Control of Manipulators," Journal of Dynamic Systems, Measurement, and Control, vol. 102, no. 2, pp. 126-133, 1981, DOI: 10.1115/1.3139652.
  3. G. S. Kanakis, F. Dimeas, G. A. Rovithakis, and Z. Doulgeri, "Prescribed contact establishment of a robot with a planar surface under position and stiffness uncertainties," Robotics and Autonomous Systems, vol. 104, pp. 99-108, Jun., 2018, DOI: 10.1016/j.robot.2018.03.005.
  4. H. Wang, Y. F. Zheng, Y. Jun, and P. Oh, "DRC-hubo walking on rough terrains," 2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), Woburn, MA, USA, pp. 1-6, 2014, DOI: 10.1109/TePRA.2014.6869151.
  5. S. Kim, M. Kim, J. Lee, S. Hwang, J. Chae, B. Park, H. Cho, J. Sim, J. Jung, H. Lee, S. Shin, M. Kim, W. Choi, Y. Lee, S. Park, J. Oh, Y. Lee, S. Lee, M. Lee, S. Yi, K. K. C. Chang, N. Kwak, and J. Park, "Team snu's control strategies for enhancing a robot's capability: Lessons from the 2015 darpa robotics challenge finals," Journal of Field Robotics, vol. 34, no. 2, pp. 359-380, 2017, DOI : 10.1002/rob.21678.
  6. E. Magrini, F. Flacco, and A. De Luca, "Control of generalized contact motion and force in physical human-robot interaction," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, pp. 2298-2304, 2015, DOI: 10.1109/ICRA.2015.7139504.
  7. H. Zhang and N. N. Chen, "Control of contact via tactile sensing," IEEE Transactions on Robotics and Automation, vol. 16, no. 5, pp. 482-495, Oct., 2000, DOI: 10.1109/70.880799.
  8. S.-K. Yun, "Compliant manipulation for peg-in-hole: Is passive compliance a key to learn contact motion?," 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, pp. 1647-1652, 2008, DOI: 10.1109/ROBOT.2008.4543437.
  9. N. Uyama, H. Nakanishi, K. Nagaoka, and K. Yoshida, "Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura-Algarve, Portugal, pp. 4477-4482, 2012, DOI: 10.1109/IROS.2012.6386082.
  10. J. Park and O. Khatib, "Contact consistent control framework for humanoid robots," 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pp. 1963-1969, 2006, DOI: 10.1109/ROBOT.2006.1641993.
  11. K. Mitobe, N. Mori, Y. Nasu, and N. Adachi, "Control of a biped walking robot during the double support phase," Autonomous Robots, vol. 4, no. 3, pp. 287-296, 1997, DOI: 10.1023/A:1008896010368.
  12. Y. Lee and J. Park, "Reactive Bipedal Walking Method for Torque Controlled Robot," 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, Australia, pp. 395-402, 2018, DOI: 10.1109/ICRA.2018.8460668.
  13. J. Pratt, J. Carff, S. Drakunov, and A. Goswami, "Capture point: A step toward humanoid push recovery," 2006 6th IEEE-RAS International Conference on Humanoid Robots, Genova, Italy, pp. 200-207, 2006, DOI: 10.1109/ICHR.2006.321385.
  14. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, "Biped walking pattern generation by using preview control of zero-moment point," 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 1620-1626, 2003, DOI: 10.1109/ROBOT.2003.1241826.