대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

이족 휴머노이드 로봇의 안정적인 보행패턴 분석: 퍼지 모델링 접근방법

Analysis of Stable Walking Pattern of Biped Humanoid Robot: Fuzzy Modeling Approach

  • 김동원 (고려대학교 공과대학 전기공학과) ;
  • 박귀태 (고려대학교 공과대학 전기공학과)
  • 발행 : 2005.06.01
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초록

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.

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참고문헌

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