• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.7
• /
• pp.43-50
• /
• 2002

This paper presents the new gait implementation of a biped robot with smooth walking using 3-dimensional continuous trunk motion and kick action of ankle joints. Trajectory generation ova trunk is performed not on a unit gait but on a whole walking interval. In applying kick action such as heel-touch or toe-off, varying coordinate system was employed for the simplification of the kinematic analysis. Desired ZMP (zero moment point) is also changed to implement the efficient kick action. As a result, balancing motion of the proposed gait was much more decreased than that of conventional one. Moreover, robot\\`s walking behavior is very smooth, natural and similar to the pace of a human. The walking experiment system is composed of eight AC servo motors and a DSP controller. The walking simulation and the experimental results are shown using the proposed new walking algorithm.

• Proceedings of the KIEE Conference
• /
• 2003.11c
• /
• pp.998-1001
• /
• 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.

• Proceedings of the KIEE Conference
• /
• 2005.07d
• /
• pp.2717-2719
• /
• 2005

Generally, biped walking is difficult to control because a biped robot is a nonlinear system with various uncertainties. In this paper, we propose a hybrid control system to improve the efficiency of position tracking performance of biped locomotion. In our control system, the wavelet neural network (WNN) based on Sliding mode controller is used as a main controller which estimates a biped robot model, and the compensated controller is proposed to compensate the estimation error. A WNN is utilized to estimate uncertain and nonlinear system parameters, where the weights of WNN are trained by adaptive laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified through computer simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.959-964
• /
• 1992

This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.

• Proceedings of the KIEE Conference
• /
• 1998.07g
• /
• pp.2339-2341
• /
• 1998

This paper is concerned with an energy optimization for the walking of IWR biped robot. The movement of balancing joints are determined by ZMP(Zero Moment Point) and dynamic properties caused by motion of a swing leg. Therefore, ZMP positions have an important role in walking and guarnateeing the stability of a robot. A genetic algorithm is utilized for solving this problem and finding ZMP with a minimum energy at each sampling time during the walk. In this study, we performed an energy optimization with desired ZMP trajectories and motion of balancing joints.

• Proceedings of the IEEK Conference
• /
• 2006.06a
• /
• pp.839-840
• /
• 2006

Our paper proposes a novel moving object tracking scheme for biped robot using a single camera. For walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum model. This analysis leads us a simple linear dynamics. And, the control parameter of the biped robot is derived from the feedback signal which converges the position of a image feature to the feature position of a desired image and the feedforward signal which compensates the motion component due to the moving object.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.162.2-162
• /
• 2001

This paper presents the stability analysis of a biped robot IWR-III. We use a foot-rotation indicator(FRI) concept to reveal the degree of stability. The foot rotation can be a barometer of postural instability, which should be carefully treated in implementing a dynamically stable walk and avoided altogether in performing a statically stable walk. The conventionally mentioned zero moment point(ZMP) criterion may not be sufficient to express the stability of a biped robot. ZMP equation needs an assumption that the supporting foot is fixed firmly to the ground during the walking. Therefore, applying the FRI concept is more desirable when a biped robot is falling down ...

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.4
• /
• pp.417-425
• /
• 2012

This paper presents reference ZMP trajectory generation and implementation for a biped robot via linear inverted dumbbell model (LIDM), which can consider the effect of external momentum on the center of mass (COM) of robot. Based on a reference ZMP trajectory derived by using LIDM, a base trajectory is proposed not only to make the locomotion of robot similar to that of human but also to facilitate its implementation and tuning. In order to realize a dynamic walking using the proposed trajectory, compliance, impedance and ZMP tracking controllers are adopted together. Extensive experiments show that the proposed locomotion of a biped robot is stable and also, similar to that of human. Further researches on balance recovery of a biped robot will be carried out to guarantee its robust locomotion in combination with the proposed trajectory.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.12
• /
• pp.1216-1222
• /
• 2009

This article describes a simple method for generating the walking trajectory for the biped humanoid robot. The method used a simple inverted model instead of complex multi-mass model and a reasonable explanation for the model simplification is included. The problem of gait trajectory generation is to find the solution from the desired ZMP trajectory to CoG trajectory. This article presents the analytic solution for the bipedal gait generation on the bases of ZMP trajectory. The presented ZMP trajectory has Fourier series form, which has finite or infinite summation of sine and cosine functions, and ZMP trajectory can be designed by calculating the coefficients. From the designed ZMP trajectory, this article focuses on how to find the CoG trajectory with analytical way from the simplified inverted pendulum model. Time segmentation based approach is adopted for generating the trajectories. The coefficients of the function should be designed to be continuous between the segments, and the solution is found by calculating the coefficients with this connectivity conditions. This article also has the proof and the condition of solution existence.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.105.2-105
• /
• 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