• 한국정밀공학회지
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• 제22권6호
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• pp.118-126
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• 2005

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2004년도 춘계학술대회 학술발표 논문집 제14권 제1호
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• pp.107-110
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• 2004

이족 로봇은 기존의 바퀴로 움직이는 로봇에 비해 더 큰 이동성을 가지고 있다. 하지만 현실적으로는 쉽게 넘어지는 경향이 있어서, 보행시 동적인 안정성을 확보해야 할 필요성이 있다. 하지만 이를 위한 기구학적 해석이나 동역학적 해석이 너무 난해하다는 단점이 있다. 본 논문에서는, 이족 로봇의 동적 보행에 있어서 안정성을 확보하기 위해 퍼지 모델을 설계하고, 시뮬레이션을 실현함으로써 본 논문에서 제안된 보행 알고리즘이 실현가능한 것임을 확인한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.2-105
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• 2002

$\textbullet$ Statically stable walk with COG(center of gravity) $\textbullet$ Dynamically stable walk with ZMP(zero moment point) $\textbullet$ Dynamically adaptational stable walk with FRI(foot ratation indicator) $\textbullet$ Simplified inverted pendulum model approach $\textbullet$ Analysis posture of biped's foot as passive joint $\textbullet$ Stability compensation method of FRI against falling down $\textbullet$ Simulation of ZMP and FRI to real biped robot IWR-III

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 춘계학술대회 논문요약집
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• pp.173-173
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• 2004

현재 건설 현장에서는 유압 굴삭기를 이용하여 굴삭 작업뿐 아니라 비교적 가벼운 물체의 크레인 작업도 병행하고 있다 그러나 국내의 경우 유압 굴삭기를 사용한 크레인 작업은 법으로 못하게 하도록 규제되어 있다. 그럼에도 불구하고 작업 현장에서는 필요에 의해 불법으로 작업을 하고 있으며 이로 인한 사고가 증가하고 있고, 그 비율이 전체 굴삭기 작업 재해의 약 38％에 이르고 있다.(중략)

• 한국기계가공학회지
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• 제17권2호
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• pp.145-152
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• 2018

This study deals with the method of determining the tip-over stability of a truck mounted on a high place operation car that is frequently used to carry out high-altitude work. Multibody Dynamics Program and Zero Moment Point (ZMP) theory are used to include dynamic effects during the car's high place operation. Through a combination of the Multibody Dynamics Program and ZMP, understanding the dynamic effects of the car's operating parts and building a detailed tip-over model of the car permitted a more precise prediction of the car's tipping-over behavior. It is also expected to help reduce the car's development time due to the time-effective simulation and provide safer work levels for the operating guide (in terms of working radius and lifting capability) with the dynamics effects.

• Journal of Advanced Marine Engineering and Technology
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• 제36권2호
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• pp.250-257
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• 2012

오늘날 큰 선박 및 구조물은 블록 형태로 만들어지고 조립된다. 수천 톤의 큰 대형 선박은 도크 또는 육상에서 큰 블록을 조립함으로써 짧은 기간 내에 만들어 진다. 이동 과정에 경사면을 만나게 되면 이동물이 기울어지게 되고 기울어진 상태로 경사면을 통과하는 경우, 블록이 전복하는 사고가 종종 발생한다. 본 연구는 트렌스포터의 이송 중량물의 평면상에서 무게 중심을 구하고, 더불어 3차원 상의 무게 중심을 구한다. 또한, ZMP(Zero Moment Point)를 이용하여 물체가 넘어지는 각도를 예측하는 연구를 수행하였다. 특히 경사면에서 물체의 이송과정 안정성을 시뮬레이션을 통하여 확인하였다.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.928-931
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• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.

• 한국기계가공학회지
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• 제15권2호
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• pp.125-130
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• 2016

In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.315-319
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• 2006

Support vector machines in biped humanoid robot are presented in this paper. The trajectory of the ZMP in biped walking robot poses an important criterion for the balance of the walking robots but complex dynamics involved make robot control difficult. We are establishing empirical relationships based on the dynamic stability of motion using SVMs. SVMs and kernel method have become very popular method for learning from examples. We applied SVM to model the practical humanoid robot. Three kinds of kernels are employed also and each result has been compared. As a result, SVM based on kernel method have been found to work well. Especially SVM with RBF kernel function provides the best results. The simulation results show that the generated ZMP from the SVM can be improve the stability of the biped walking robot and it can be effectively used to model and control practical biped walking robot.