• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2271-2274
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• 2005

The desired ZMP is different from the actual ZMP of a humanoid robot during actual walking and stand upright. A humanoid robot must maintain its stable posture although external force is given to the robot. A humanoid robot can know its stability with ZMP. Actual ZMP may be moved out of the foot-print polygons by external disturbance or uneven ground surfaces. If the position of ZMP moves out of stable region, the stability can not be guaranteed. Therefore, The control of the ZMP is necessary. In this paper, ZMP control algorithm is proposed. Herein, the ZMP control uses difference between desired ZMP and actual ZMP. The proposed algorithm gives reaction moment with ankle joint when external force is supplied. 3D simulator shows motion of a humanoid robot and calculated data.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.358-364
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• 2007

Intelligent walking modeling of humanoid robot using learning based neuro-fuzzy system is presented in this paper. Walking pattern, trajectory of the zero moment point (ZMP) in a humanoid robot is used as an important criterion for the balance of the walking robots but its complex dynamics makes robot control difficult. In addition, it is difficult to generate stable and natural walking motion for a robot. To handle these difficulties and explain empirical laws of the humanoid robot, we are modeling practical humanoid robot using neuro-fuzzy system based on the two types of natural motions which are walking trajectories on a t1at floor and on an ascent. Learning based neuro-fuzzy system employed has good learning capability and computational performance. The results from neuro-fuzzy system are compared with previous approach.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.63 no.1
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• pp.50-53
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• 2014

Although there are some calculations of kinetics, dynamics, torque of each joint, size and weight which are used in implementing of humanoid robot, it is too expensive and need much education to make frame of robot body, actuator, and etc. Moreover, since there is lots of differences of operational principle, we need many kinds of experimental and education. However, the real humanoid robot is difficult to propagate because of its prices and other technical problems. Therefore we need small robot platform and control method which can give a enough education effect as similar as real humanoid robot. In this paper, the Kinect Sensor which made by Microsoft will be used for control method of humanoid platform.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.11a
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• pp.77-81
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• 2007

본 논문은 휴머노이드 로봇의 넘어짐 자세 시 충격량 최소화를 위한 GA 기반의 자세 자동 생성 방법을 제안한다. 관절 공간에서 관절각의 최적 조합으로 충격량을 최소화 할 수 있는 자세의 자동 생성 기법을 구현하였다. 제안된 기법의 검증을 위하여 Sony QRIO 로봇에 대해서 ODE 기반 물리적 특성의 시뮬레이션이 가능한 Webots를 이용하여 실험을 수행하였다.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.6
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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.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.315-316
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• 2007

This paper presents a new methodology to improve movement database for a humanoid robot. The database is initially full of human motions so that the kinetics characteristics of human movement are immanent in it. then, the database is updated to the pseudo-optimal motions for the humanoid robot to perform more natural motions, which contain the kinetics characteristics of robot. for this, we use the evolutionary algorithm. the methodology consists of two processes : (1) the offline imitation learning of human movement and (2) the online generation of natural motion. The offline process improve the initial human motion database using the evolutionary algorithm and inverse dynamics-based optimization. The optimization procedure generate new motions using the movement primitive database, minimizing the joint torque. This learning process produces a new database that can endow the humanoid robot with natural motions, which requires minimal torques. In online process, using the linear combination of the motion primitive in this updated database, the humanoid robot can generate the natural motions in real time. The proposed framework gives a systematic methodology for a humanoid robot to learn natural motions from human motions considering dynamics of the robot. The experiment of catching a ball thrown by a man is performed to show the feasibility of the proposed framework.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.85.2-85
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• 2002

If a biped humanoid robot walks stably on even and uneven planes like a human being, it should have a control system capable of compensating for moments generated by motions of its lower-limbs, upper-limbs and head. In this paper, a compensatory motion control method is described for the stability of biped humanoid robots. This control method calculates the combined motion of the trunk and the waist that cancels the generated moments by using an iteration algorithm. During the biped walking, the combined motion is employed only for stability while the motion of the lower-limbs is used only for locomotion. This method is useful for not only a steady walking but also a transient walking. The e...

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.843-848
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• 2007

This paper introduced an automatic generation method of falling motions for humanoid robots to minimize a damage. The proposed approach used a GA based optimization technique to find a set of joint trajectories which minimize a damage of the falling over and down. A couple of fitness functions are provided to generate various falling motions. To verify the proposed method, experiments for falling motions were executed for Sony QRIO robot in Webots simulation environments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.491-492
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• 2008

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.7-10
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• 2007

This paper presents a fuzzy footstep planner for humanoid robots in complex environments. First, we define locomotion primitives for humanoid robots. A global planner finds a global path from a navigation map that is generated based on a combination of 2.5 dimensional maps of the 3D workspace. A local planner searches for an optimal sequence of locomotion primitives along the global path by using fuzzy footstep planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.