• 전기학회논문지P
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• 제55권2호
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• pp.83-88
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• 2006

This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of the biped robot's links using Genetic Algorithm. This paper presents a learning controller for repetitive gait control of the biped robot. The learning control scheme consists of a feedforward learning nile and linear feedback control input for stabilization of learning system. The feasibility of learning control to the biped robotic motion is shown via computer simulation and experimental results with 24 DOF biped walking robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2411-2413
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• 2003

A new small humanoid robot system is developed in this paper. The humanoid robot has total 20 DOFs : 6 DOFs in each legs, 3 DOFs in each arms, and 2 DOFs in head, 34cms in height, and 2kgs in weight. The robot has the following characteristics: (1) PDA as host controller (2) network-based joint controller (3) wireless camera attached in robot's head (4) mechanism design by CATIA and high speed laser prototyping (5) graphic MMI(Man-Machine Interface) utilizing the CATIA data. By using ADXL inclination sensor, we implement the rope swing with the robot leg motion as well as walking.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.998-1001
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• 2003

In this paper, a entertainment biped robot controlled by R/C servo motors is built using the embedded RTOS (Real Time Operating System). uC/OS-II V2.00 is used for RTOS and control algorithm of R/C servo motors is proposed based on uC/OS-II's preemptive and deterministic property without any extra PWM module. The realized biped robot has 19 DOF, and a board 80C196KC as main CPU. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and ADAMS is used for simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1764-1766
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• 2007

This paper aims to generate the static walking pattern of a biped robot on stairs and to show the effectiveness of the proposed algorithm using its ankle and pelvis. Differently from the previous biped robots, our biped robot has the peculiar mechanism on its ankle and pelvis. By using this mechanism, we can reduce the load in the knee when a biped robot ascends the stairs. This means that a biped robot can climb up a higher step. The stairs walking trajectory that is separated into a ankle trajectory and a pelvis trajectory is generated by cubic spline interpolation. Finally, we confirm the feasibility of the proposed algorithm through the computer simulation and the real walking experiment.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• 한국소음진동공학회논문집
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• 제24권4호
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• pp.299-309
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• 2014

When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS(R) along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1977-1978
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tele-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• 한국정밀공학회지
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• 제19권10호
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• pp.139-146
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• 2002

We developed a motion capture system to utilize informations on the human walking motion. The system is composed of the mechanical and electronic devices to obtain the joint angle data and the software to analyze the obtained data and to transform the data into the input for a biped walking robot. The mechanical system is composed of a pair of links with 3 revolute joints, on which potentiometers are attached on joint axes to sense rotation angles. Analog signals from potentiometers are transformed into the digital data through the low pass filter and the A/D converter, and then which are stored at the computer. We analyzed the walking characteristics by applying FFT to the digital data, and then performed a 3-D computer simulation using the data. Finally, We apply the processed data to a biped walking robot.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.245-254
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• 2014

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권6호
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.