• 제목/요약/키워드: Biped walking

검색결과 225건 처리시간 0.022초

유전 알고리즘을 이용한 IWR 이족 보행 로보트의 균형추 제어 (Control of balancing weight for IWR biped robot by genetic algorithm)

  • 심경흠;이보희;김진걸
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.1185-1188
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    • 1996
  • In this paper we present a genetic approach for trajectory control algorithm of balancing weight for IWR biped walking robot. The biped walking robot, IWR that was made by Automatic Control Lab. of Inha University has a trunk which stabilizes its walking by generating compensation moment. Trunk is composed of a revolute and a prismatic joint which roles balancing weight. The motion of balancing weight is determined by the gait of legs and represented by two linear second order ordinary differential equations. The solution of this equation must satisfy some constraints simultaneously to have a physical meaning. Genetic algorithm search for this feasible motion of balancing weight under some constraints. Simulation results show that feasible motion of balancing weight can be obtained by genetic algorithm.

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중력보상기를 적용한 이족보행로봇 연구 (A study on the Biped Walking Robot applying a Gravity Compensator)

  • 최형식;나원현;김동호;추우헌
    • 한국정밀공학회지
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    • 제27권7호
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    • pp.55-62
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    • 2010
  • In this paper, the structure of a new gravity compensator was studied, and the biped walking robot applying a gravity compensator was presented to improve the performance of the robot. The robot had 13 degree of freedom and is driven by the joint actuator with the gravity compensator. Each leg of the robot is composed of six joints three joints at the hip, a joint at the knee, and two joints at the ankle. The leg of the robot was designed to support 74kg weight including 30kg payload thanks to the gravity compensator. The performance of the robot was presented by reducing the payload applied to the leg joint of the robot thanks to the gravity compensator.

최적화 기법인 mDEAS의 개발 및 휴머노이드 이족보행 시 최적 관절궤적 생성에의 적용 (Development of Modular DEAS (mDEAS) and its Application to Optimal Trajectory Generation of Biped Walking)

  • 김은숙;김조환;김종욱
    • 전기학회논문지
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    • 제58권2호
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    • pp.382-390
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    • 2009
  • This paper newly proposes a modular type dynamic encoding algorithm for searches (DEAS) which partitions the whole parameters into several modules and carries out exhaustive DEAS for each module. uDEAS is used to measure parameter sensitivities to the cost function, and the variables whose sensitivities are similar are grouped to make a module. The proposed optimization method is applied to optimal trajectory generation for biped walking of a humanoid. and the optimization result is compared with those of the former versions of DEAS.

영상 처리를 이용한 소형 이족 보행 로봇의 임무 수행 (Performing Missions of a Small Biped Walking Robot using Image Processing)

  • 김남훈;하종은
    • 한국전자통신학회논문지
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    • 제11권12호
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    • pp.1225-1230
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    • 2016
  • 본 논문에서는 영상 처리를 이용한 소형 이족 로봇의 임무 수행에 대해 다루도록 한다. 주어진 지도상에서 안정적인 보행을 위해서는 위치 인식이 필요하게 된다. 주행 경로상의 경계를 추출하여 로봇의 위치 정보를 추정하도록 한다. 평면상에서 운동하는 경우 위치와 방향으로 이루어진 세 개의 인자의 추정이 필요하다. 본 논문에서는 주행 경로상의 수직 방향의 로봇의 위치와 진행 방향등 두 개의 인자를 추정하여 위치 추정을 하도록 한다. 장애물 검출을 위해서는 칼라 정보를 이용하도록 하며 안정적인 검출을 위해 정규화된 값을 이용하도록 한다.

동작 획득 시스템의 개발 (Development of Motion Capture System)

  • 우정재;최형식;김영식;전대원
    • 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.

이족 보행로봇의 동적 보행 제어에 관한 연구 (A Study on Dynamic Walking Control of Biped Robot)

  • 심병균;정양근;심현석;이우송
    • 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.

2족 보행 로봇을 위한 허용 ZMP (Zero Moment Point) 영역의 활용을 통한 에너지 효율적인 기준 보행 궤적 생성 (Energy-Efficient Reference Walking Trajectory Generation Using Allowable ZMP (Zero Moment Point) Region for Biped Robots)

  • 신혁기;김병국
    • 제어로봇시스템학회논문지
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    • 제17권10호
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    • pp.1029-1036
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    • 2011
  • An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

이족로봇의 경사면 균형 유지와 보행에 관한 연구 (A Study about Stable Walking and Balancing of Biped Robot in a Slope)

  • 오성남;윤동우;손영익;김갑일;임승철;강환일
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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    • pp.542-544
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    • 2006
  • This paper aims to provide a way to improve dynamic stability of biped robots against undesirable disturbances and in a slope. By using an angular velocity sensor and an acceleration sensor on its waist, we can make a medium-sized biped robot walk stably in a slope against impulsive disturbances. In addition, it is possible for the robot to walk stably in an unknown slope. The measured signals from the sensor are used for compensating the reference angles of ankle, knee, and pelvis joints. Some experiments show that the stability of the robot is much enhanced by using cheat sensors and a simple algorithm. This work helps bided robots walk more stably in real environments.

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휴머노이드 로봇의 경사면 내리막 보행을 위한 지능보행 연구 (Intelligent Walking of Humanoid Robot for Stable Walking on a Decent)

  • 김동원;박귀태
    • 로봇학회논문지
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    • 제1권2호
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    • pp.197-202
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    • 2006
  • We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.

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Dynamic Walking of a Biped Robot

  • 마영;손영익;김갑일
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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    • pp.138-140
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    • 2004
  • This paper mainly deals with the dynamic walking of a biped robot. At first, in order to walk in various environments, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. A method to plan a walking pattern consisting of a foot trajectory and a hip trajectory is presented. The effectiveness of the proposed method is illustrated by simulation results. Secondly, the paper brings forward a balance control technique based on off-line walking pattern with real-time modification. At last, the concept of Zero Moment Point (ZMP) is used to evaluate dynamic stability.

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