• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.78-81
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• 1997

In this study, we prepose the dynamic gait in consideration of emerge efficiency. The proposed dynamic gait is applied to the quadruped walking robot and experiments are performed for real robot. We proposed the dynamic gait is diagonal gait which is modified the trot gait in consideration of energy efficiency. The proposed gait is composed of two steps. In one step, the robot walks in the trot gait. In the other step, the robot walks with making the center of gravity lie on the two legs supporting line. Realization of the diagonal intermittent trot gait is performed by open loop contal and motion planning of the proposed gait. The validity of the purposed gait is confirmed by our experiment.

• 융합신호처리학회논문지
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• 제13권2호
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• pp.113-118
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• 2012

기존의 4족 보행 로봇에서의 다리 부착 위치는 말, 사자 등의 동물에서 볼 수 있는 것과 같은 형태로서 사람들에게 익숙한 형태이기 때문에 외관상 자연스러우나 보행의 안정성, 보행의 속도 등 보행의 관점에서는 비효율적인 측면이 있다. 본 논문에서는 자연계에는 존재하지 않는 형태로서 보행이 효율적으로 이루어지도록 네 다리를 몸체에 부착한 형태의 4족 보행 로봇에 대하여 기술한다. 제안된 4족 보행 로봇은 로봇의 진행 방향에 대하여 좌우 다리와 전후다리를 갖는다. 일반적인 구조의 4족 보행 로봇은 정적인 보행을 하기 위하여 항상 세 다리가 지면에 닿아야하고 로봇의 무게 중심을 로봇 진행 방향에 대하여 좌우로 이동시켜주어야 한다. 또한 보행 속도를 높이기 위해서는 두 다리만 동시에 지면에 닿는 동적인 보행을 수행하여야 하는데 이는 제어하기가 쉽지 않고 사용된 모터의 특성에 따라서는 동적인 제어가 불가능할 수도 있다. 반면 제안된 로봇은 정적인 보행에서도 두 다리를 동시에 이동할 수 있어 보행의 안정성과 효율성을 크게 향상시켰다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.108.3-108
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• 2002

$\textbullet$ Introduction $\textbullet$ trend of walking robot $\textbullet$ Characteristics of waist-jointed walking robot $\textbullet$ simulation $\textbullet$ conclusion

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.119-124
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• 1988

In this paper, we developed an environment for the analysis of kinematic characteristics of a quadruped robot using animation with simple task planning in SUN3 workstation. The projection method and related graphic utilities are developed, and we considered user interface with mouse. The legs with pantograph mechanism are mathmatically modelled and they will be used for the simulation of algorithms to be develped in the graphic monitor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.113-118
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• 1988

The problem of controlling static gaits of a Quadruped Walking Robot is investigated. A theoretical approach to the gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects of the stride length to the static stability are analyzed, and the relations between the static stability and the initial body configurations are examined. Extensive computer simulations are performed to verify the analysis results.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.707-711
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• 1999

In this paper, an algorithm of fault tolerant gaits for a quadruped robot is proposed for the purpose of tolerating a locked joint failure. The robot can continue its walking after a locked failure occurs to a joint of a leg by the proposed algorithm. In particular, a periodic gait is proposed as a special form of the proposed algorithm and its existence and efficiency are analytically proven.

• 산업기술연구
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• 제11권
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• pp.65-72
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• 1991

In this paper, a control algorithm is discussed when the quadruped walking robot walks over the unknown soft ground. Firstly, it estimated the relationship between the foot force and the ground sinkage at the leg-placing phase. Secondly, the generated soil property is applied to the leg-supporting phase. If the attitude angle is changed by incorrect ground sinkage compensation, the control algorithm adjusts the attitude angle using simplified orientation orientation matrix.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.308-313
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• 2005

For a real-time quadruped robot running control, there are many important objectives to consider. In this paper, the running control architecture based on global states, which describe the cyclic target motion, and central pattern is proposed. The main goal of the controller is how the robot can have robustness to an unpredictable environment with reducing calculation burden to generate control inputs. Additional goal is construction of a single framework controller to avoid discontinuities during transition between multi-framework controllers and of a training-free controller. The global state dependent neuron network induces adaptation ability to an environment and makes the training-free controller. The central pattern based approach makes the controller have a single framework, and calculation burden is resolved by extracting dynamic equations from the control loop. In our approach, the model of the quadruped robot is designed using anatomical information of a cat, and simulated in 3D dynamic environment. The simulation results show the proposed single framework controller is robustly performed in an unpredictable sloped terrain without training.

• 대한기계학회논문집A
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• 제34권6호
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• pp.659-665
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• 2010

본 논문에서는 4 족 보행로봇의 비평탄면 갤로핑 알고리즘을 제안하였다. 몸체의 균형은 지면접촉순간의 지면반발력에 의해 결정되므로 안정된 보행을 위해 발과 지면과의 접촉력을 제어하였다. 각 발의 지면접촉힘을 제어하기 위해 우선 요구되는 지면접촉힘을 결정하고 지면접촉구간에서 실제 접촉힘과 비교하고 그 차이에 따라 발의 궤적을 수정하게 된다. 요구되는 지면접촉력은 원하고자 하는 각운동량 및 선형운동량의 변화에 따라 결정되며, 각 발에 요구되는 접촉힘으로 퍼지로직에 의해 분배된다. 리커다인을 이용한 동역학 모델 시뮬레이션을 통해 본 논문에서 제안된 방법이 비평탄면에서의 안정적인 보행에 적합함을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).