• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.876-881
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• 2008

When biped robots speed up to run and reduce speed to walk after running, it needs stable speed translation. This paper proposed simple speed translation using the modified LIPM (Linear Inverted Pendulum Mode). We can change stride and period time of a biped robot in some bounded sets with this propose algorithm. This method is simple and effective in simulation.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.559-562
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• 2005

When we analyze dynamics of a multi body system, a compliance of joints must be considered. If the virtual model for CAE(computer adied engineering) analysis is not considered compliance, the result of CAE analysis will be very different from the actual result. Especially in a biped walking robot, a compliance can be caused in joints of a walking robot, and the robot may lose walking stability. This paper proposes a compliance modeling method and the effectiveness of the compliance model is verified through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1934-1937
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• 2005

This paper proposes suitable gait generation for dynamic walking of biped robot with varying load in real time. Author proposes the relationship between ZMP(Zero Moment Point) and measurement from FSR(Force Sensing Register). Simplifying this relationship, it is possible to reduce the computational time and control the biped robot in real time. If the weight of the biped robot varies in order to move some object, then joint trajectories of the the biped robot must be changed. When some object is loaded on the biped robot in it's home position, FSRs can measure the variation of weight. Evaluating the relations between varying load and stable gait of the biped robot, it can walk adaptively. This relation enables the biped robot to walk properly with varying load. The simulation is also represented in this paper which shows proposed relationships.

• 한국지능시스템학회논문지
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• 제15권1호
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• pp.59-64
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• 2005

이족보행로봇을 실생활에 적용하기 위해서는 비평탄지형에서의 안정적인 보행 및 자세 안정화가 반드시 필요하다. 본 논문에서는 이족보행로봇의 비평탄지형 보행알고리즘과 외력에 대한 자세안정화 알고리즘을 제안하였다. 먼저 다양한 형태의 장애물, 계단, 경사면의 비평탄지형에서 안정적 보행이 가능한 이족보행로봇의 기구부 및 원격제어 가능한 제어시스템 설계에 대하여 설명하고, 이러한 비평탄지형에서 발에 부착된 적외선센서 및 FSR센서, 머리에 장착된 카메라를 사용한 안정된 지능보행 및 원격제어 알고리즘을 제안하였다. 또한 발바닥에 장착된 FSR센서를 사용하여 외부에서 들어오는 외력에 대처하는 자세안정화 알고리즘도 제안하였다. 제안된 비평탄지형 보행 및 자세안정화 알고리즘, 원격제어기법은 실제 제작된 이족보행로봇을 다양한 장애물을 포함한 환경에서 실험하여 성능을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.113-118
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• 1993

This paper represents mechanical compliance & ZMP(Zero Moment Point) control algorithm for IWR(Inha Walking Robot) system. In case of walking in different environments, a biped walking robot must vary its gait(walking period or step length, etc.) according to the environments. However, most of biped walking robots do not have the capability to change their gaits or need more complex control algorithm, because ZMP cannot be defined in their control algorithm. Therefore new linear type with balancing joint is proposed which is used as an aid in balancing & ZMP control itself. In IWR system, ZMP can be defined by solving differential equations and it does not need to be predefined ZMP trajectory. Furthermore we can input the desired ZMP position. In parallel with the development, we also considered a mechanical compliance for reducing the inverse kinematics, dynamics and the control complexity. It will figure out some powerful adaptation with 3D irregular terrains.

• 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.

• Journal of Mechanical Science and Technology
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• 제20권5호
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• pp.612-620
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• 2006

This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• 융합신호처리학회논문지
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• 제5권1호
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• pp.46-52
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• 2004

본 논문에서는 키 42cm, 몸무게 1.5kg으로 총 16 자유도를 가진 소형 인간형 로봇의 개발에 관하여 소개한다. 인간형 로봇은 많은 자유도를 가지기 때문에 개발을 쉽게 하기 위하여 제어가 간단한 RC 서보 모터를 구동기로 사용한다. 개발된 로봇은 또한 머리에 소형 디지털 카메라를 장착하고 있어서 주변의 환경에 대한 영상 데이터를 원격지에 있는 호스트 컴퓨터에 무선 모뎀을 통하여 전송할 수 있다. 개발된 로봇은 직진 보행, 회전 보행 등의 평지 보행뿐만 아니라 계단 보행도 수행할 수 있다. 로봇의 움직임을 생성하고 사전에 모의 실험해 볼 수 있는 그래픽 시뮬레이션프로그램과 경로 생성 프로그램은 호스트 컴퓨터에서 구동된다. 실험을 통하여 개발된 로봇이 계단 보행을 수행할 수 있음을 보인다.

• 한국인터넷방송통신학회논문지
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• 제17권2호
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• pp.173-178
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• 2017

과거부터 로봇의 실생활 활용에 관한 연구가 지속됨에 따라 현대사회에서 이전까지의 실험 환경에서 벗어나 사회 각 분야로의 진출이 지속적으로 시도 되고 있다. 하지만 로봇이 실제 환경에 적용되기 위해서 기존의 로봇 플랫폼 상용화의 가장 큰 단점으로 꼽히는 생산 비용과 인간 기준의 작업환경에서의 적응성 문제가 선결되어야 한다. 본 논문에서는 사람의 자유도와 크기를 따르는 이족보행 형태의 로봇을 제안하였으며, 엔코더를 포텐셔미터 접목모듈로 대체하여 높은 생산 단가를 절감하고, 파트 교체가 쉬운 모듈형 설계를 채택하여 로봇의 유지 보수비용을 절감 하였다. 최종적으로 크기와 모터의 배열이 다른 두 가지의 더미로봇에 보행패턴을 적용하여 안정성을 검증하였고, 본 논문에서는 제작된 실제 로봇들을 이용한 보행 패턴을 적용 및 보행 실험을 통하여 제안한 이족보행 로봇 적용가능성을 검증하였다.