• 제목/요약/키워드: quadruped walking

검색결과 120건 처리시간 0.027초

무게평형진자를 가진 4족 로봇의 보행 실험 (Walking test of a quadruped robot with weight balancing oscillator)

  • 유재명;오상관;김영탁
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2002년도 춘계학술대회 논문집
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    • pp.446-449
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    • 2002
  • Quadruped walking robot requires dynamic control to keep its stability in high speed walking. To keep its walking stability by control of only legs' Joint angle lowers energy efficiency. It is known that an animal or a human use the moving of the mass center of one's upper body to keep the stability. We have developed a quadruped walking robot with weight balancing oscillator that have high energy efficiency. In this study, walking tests are performed for the robot to verify the validity of the weight balancing oscillator.

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Unified Strategy for Quadruped Walking Robot in Unstructured Environment

  • Kang, Tae-Hun;Son, Tae-Young;Kim, Hyung-Seok;Choi, Hyouk-Ryeol
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.639-644
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    • 2003
  • An unstructured environment requires a robot to possess outstanding mobility and advanced control algorithms since there exist complicated configurations such as obstacle, uneven surface, etc. Especially, when a quadruped robot walks in these environments, obstacles in the walking route will obstruct the walking or may give rise to a serious trouble. In this paper, we introduce a strategy for the stable walking in unstructured environment. The proposed strategy consists of two control algorithms. One is a collision{free algorithm to avoid obstacles and the other is an algorithm to overcome any obstacle. These are based on the obstacle detection method and a shape reconstruction algorithm, Which algorithms are described in detail. In addition, the validity of these algorithms have been demonstrated through experiments using a quadruped walking robot called "MRWALLSPECT III(Multifunctional Robot for Wall inSPECTion version 3 )".

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4족 보행 로봇의 착지점 선정에 관한 연구 (A Study on the Footholds Selection for Quadruped Walking Vehicle)

  • 정경민;박윤창
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2000년도 추계학술대회 논문집
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    • pp.7-10
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    • 2000
  • Inadequate footholds selection may result in deadlock state where the walking vehicle can not anymore to the desired direction. This paper concerns about the footholds selection for quadruped v, vehicle to walk with the leg lifting sequence of crawl gait which is desired for straight motion. supporting states for lifting a leg are defined and the proper supporting condition for quadruped c: also proposed. When selecting a footholds of swing leg within the proposed footholds searching are; supporting states after the swing legs are placed, satisfy the proper supporting condition. So it can I for quadruped to execute continuous walking with the lifting sequence of crawl gait.

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4족 로봇의 에너지 소모량 분석 (Consumption Energy Analysis of Quadruped Walking Robot)

  • 엄한성
    • Journal of Advanced Marine Engineering and Technology
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    • 제30권1호
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    • pp.134-139
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    • 2006
  • A energy efficiency of quadruped walking robot has been studied mathematical modeling, dynamic analysis or simulation by consumption energy per period. In this paper, We used the quadruped walking robot Titan-VIII in order to carry out this experiment. The total moving length is about 2[m] , the stride length is 0.1, 0.2. 0.3, and walking period is changed by 1.0, 1.5, 2.0, 2.5 3.0[sec] Per each stride length. So consumption energy of 15 cases are measured. As a result of this experiment we obtained the best energy efficiency when stride length was 0.3[m], and Period was 1.5[sec].

4족 보행 로봇의 장애물 회피와 축구하기 (Obstacle Avoidance and Playing Soccer in a Quadruped Walking Robot)

  • 서현세;성영휘
    • 대한임베디드공학회논문지
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    • 제7권3호
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    • pp.143-150
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    • 2012
  • In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

4족 애완로봇을 위한 보행운동 계획 (Walking Motion Planning for Quadruped Pet Robot)

  • 이수영;최대성;최병욱
    • 제어로봇시스템학회논문지
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    • 제15권6호
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    • pp.626-633
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    • 2009
  • A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.

틸팅을 이용한 4족 보행 로봇의 정적 보행 알고리즘 (Static Walking Algorithm for a Quadruped Robot using Tilting)

  • 이순걸;조창현;김병수
    • 제어로봇시스템학회논문지
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    • 제7권8호
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    • pp.675-679
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    • 2001
  • This paper presents walking algorithm for a quadruped robot that does not have an upper body. Tilting motion is added to the planned walking trajectory instead of using an extra body segment that is independent on walking trajectory. Area and tracking algorithms are proposed as tilting method and compared with that of off-line tilting and that of no tilting. Computer simulation shows that stability of tilted walking is more improved than that of the usual walking algorithm for general walking paths. It also shows that the tracking method guarantees stability and best mobility.

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비평탄 지형에서 사각 보행 로봇의 고장후 보행 (Post-Failure Walking of Quadruped Robots on a Rough Planar Terrain)

  • 양정민;박용국
    • 대한전기학회논문지:시스템및제어부문D
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    • 제54권9호
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    • pp.547-555
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    • 2005
  • A fault-tolerant gait of multi-legged robots with static walking is a gait which can maintain gait stability and continue its walking against an occurrence of a leg failure. This paper proposes fault-tolerant gait planning of a quadruped robot walking over a rough planar terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. In this Paper, two-phase discontinuous gaits are presented as a new fault-tolerant gait for quadruped robots suffering from a locked joint failure. By comparing with previously developed one-phase discontinuous gaits, it is shown that the proposed gait has great advantages in gait performance such as the stride length and terrain adaptability. Based on the two-phase discontinuous gait, quasi follow-the-leader(FTL) gaits are constructed which enable a quadruped robot to traverse two-dimensional rough terrain after an occurrence of a locked joint failure. During walking, two front legs undergo the foot adjustment procedure for avoiding stepping on forbidden areas. The Proposed wait planning is verified by using computer graphics simulations.

다각 보행 로보트의 서보 제어기 설계 (A servo controller design for a quadruped walking robot)

  • 이연정;여인택;박찬웅
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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    • pp.75-78
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    • 1987
  • This paper presents a control algorithm of servo controller for a quadruped walking robot as well as its characteristics and requirements. The control algorithm for propelling and terrain adaptive motion is described. The servo controller is being developed as a sub-project of the national project - "Development of a quadruped walking robot ". And then, this paper focuses on an overview of the current state and future works of this sub-project.b-project.

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