• Title/Summary/Keyword: 물결 걸음새

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Gait Generation Method for a Quadruped Robot with a Waist Joint to Walk on the Slope (허리 관절을 갖는 4족 로봇의 경사면 보행을 위한 걸음새 생성 방법)

  • Kim, Guk-Hwa;Choi, Yoon-Ho;Park, Jin-Bae
    • Journal of the Korean Institute of Intelligent Systems
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    • v.22 no.5
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    • pp.617-623
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    • 2012
  • In this paper, we propose a gait generation method for a quadruped robot to walk efficiently on the slope, which uses the waist joint of a quadruped robot. We derive the kinematic model of a quadruped robot with waist joint using the Denavit-Hartenberg representation method and the algebraic method. In addition, the gaits are generated based on the wave gait. In the proposed gait generation method, first in order to alleviate the mechanical restriction and the reduction of the stride, we determine the appropriate waist joint angle according to the slope degree, and then decide the location of the tiptoe of a quadruped robot by exploring the workspace. Finally, through computer simulations, we verify the effectiveness and applicability of the proposed method.

An Efficient Stair Locomotion Method of Quadruped Robot with Mechanism of Insectile Leg (곤충형 다리 구조를 갖는 4족 로봇의 효율적인 계단 보행 방법)

  • Byun, Jae-Oh;Choi, Yoon-Ho
    • The Journal of the Korea institute of electronic communication sciences
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    • v.10 no.3
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    • pp.395-402
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    • 2015
  • In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

An Efficient Gait Generation Method for Quadruped Robot with Waist Joints (허리 관절을 갖는 4족 로봇의 효율적인 걸음새 생성 방법)

  • Kim, Dong Sub;Choi, Yoon Ho
    • Journal of the Korean Institute of Intelligent Systems
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    • v.23 no.5
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    • pp.466-472
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    • 2013
  • In this paper, we propose a gait generation method for a quadruped robot using the waist joints which can minimize the body shake during the locomotion. In this proposed method, we first calculate the hip coordinate of tilted body using the geometrical model of a quadruped robot, and then move the CoG(Center of Gravity) of a quadruped robot using 2-DOF waist joints to minimizes the body shake. In addition, the gait of a quadruped robot is generated based on the wave gait method. Finally, we verify the effectiveness of the proposed method by comparing with that of the previous method through the computer simulations.

A Method of Path Planning for a Quadruped Walking Robot on Irregular Terrain (불규칙 지형에서 사가 보행 로보트의 경로 계획 방법)

  • ;Zeungnam Biem
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.43 no.2
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    • pp.329-338
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    • 1994
  • This paper presents a novel method of path planning for a quadruped walking robot on irregular terrain. In the previous study on the path planning problem of mobile robots, it has been usually focused on the collision-free path planning for wheeled robots. The path planning problem of legged roboth, however, has unique aspects from the point of viw that the legged robot can cross over the obstacles and the gait constraint should be considered in the process of planning a path. To resolve this unique problem systematically, a new concept of the artificial intensity field of light is numerically constructed over the configuration space of the robot including the transformed obstacles and a feasible path is sought in the field. Also, the efficiency of the proposed method is shown by various simulation results.

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Gait Generation for Quadruped Robots Using Body Sways (몸체 스웨이를 이용한 4족 로봇의 걸음새 생성)

  • Jung, Hak-Sang;Kim, Guk-Hwa;Choi, Yoon-Ho
    • Journal of the Korean Institute of Intelligent Systems
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    • v.22 no.3
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    • pp.305-311
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    • 2012
  • In this paper, we propose a gait generation method for quadruped robots using the xz-axis sway of the quadruped robot, which minimizes the shake of the quadruped robot and maximizes the stability margin. In the proposed method, the gait is generated based on wave gaits and the stability analysis uses the body tilt information of the quadruped robot according to the leg's height of leg. In addition, to reduce the impact on the body caused by the z-axis sway while walking, the proposed method generates the smooth walking movement trajectory with less impact by using Fourier series. Finally, to verify the applicability and effectiveness of the proposed method, we carry out the computer simulations and the real walking experiments with the implemented quadruped robot.

첨단과학현장-광속상거래(CALS)의 새물결

  • Hyeon, Won-Bok
    • The Science & Technology
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    • v.28 no.10 s.317
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    • pp.84-87
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    • 1995
  • 정보화의 물결은 마침내 전세계 산업계를 휩쓸기 시작했다. 세계의 기업들을 온라인으로 묶고 제품의 설계도에서 계약서와 취급교범에 이르는 모든 정보를 리얼타임(실시간)으로 서로교환한다는 '칼스'(CALS : Commerce At Light Speed:광속 상거래라는 뜻)라는 이름의 웅대한 정보망 구상은 빠른 걸음으로 확산될 조짐이다. 산업경쟁력의 회기적인 회복을 약속하는 '칼스'를 외면하면 결국 세계경제의 울타리 속에서 살아남을 수 없게 된다는 전망에서 이 구상의 발상지인 미국은 물론 유럽과 일본에서는 '칼스'의 열풍이 뜨겁게 달아오르고 있다.

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A study on walking algorithm of quadruped robot used stroke control method in the irregular terrain (비평탄 지형에서 스토로크 제어법을 이용한 4족 로봇의 보행 알고리즘에 관한 연구)

  • Ahn, Young-Myung
    • 전자공학회논문지 IE
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    • v.43 no.4
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    • pp.52-59
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    • 2006
  • Walking robot is able to move in regular or irregular terrain. It can walk that change adaptive algorithms according to the terrain. Existing papers about adaptive gaits of blind robot are based on intelligent foothold selection. However, this paper proposes a algerian that is based on the variations of stroke and period to adapt the irregular terrain. If thus adaptive algorithms is used, robot can maintain periodic gait walking and constant speed using only force sensor even in the irregular terrain without external sophisticated sensor. In this paper Quadruped robot with 2 DOF in each leg, is walk experiment with the wave gait in regular and irregular terrain. So the adaptive algorithm is proved useful through walk experiment.