DOI QR코드

DOI QR Code

이족보행로봇의 횡보행 경로생성을 위한 시뮬레이터 연구

Study on a Simulator for Generating Side Walking Path of the Biped Walking Robot

  • 최형식 (한국해양대학교 기계정보 공학부) ;
  • 전창훈 (한국해양대학교 기계공학과 대학원) ;
  • 강진일 (한국해양대학교 기계공학과 대학원)
  • 발행 : 2008.11.30

초록

A research on a simulator for a side walking path of a 16 degree-of-freedom (d.o.f) biped walking robot(BWR) which is composed of 4 d.o.f upper-part body and 12 d.o.f lower-part of the body is presented. For generation of stable side walking motion, the kinematics, dynamics and the zero moment of point(ZMP) of the BWR were analyzed analytically and included in the simulator. To operate the motion simulator for stable side walking of the BWR, a graphic user interface program was developed which needs inputs for the side distance between legs, base joint angle, walking type, and walking velocity. The simulator was developed to generate joint angle data of legs for side walking, and the data are transmitted to the BWR for stable side walking. In the simulator, a new path function for smooth walking motion was proposed and applied to the simulator and actual motion of a BWR. Also for actual side walking, an algorithm for estimating backlashes of the actuating joint motors was proposed and included in the simulator. To validate the performance of the proposed motion simulator, the simulator was operated and its side walking data of the simulator were generated for a period of side walking.

키워드

참고문헌

  1. M. Vukobratovic, A. A. Frank, and D. Juricic. On the Stability of Biped Locomotion. Proc. IEEE Transactions on Biomedical Engineering, Vol. BME-17, No.1, pp. 25-36, 1970 https://doi.org/10.1109/TBME.1970.4502681
  2. A. Takanishi, M. Ishida, Y. Yamazaki, I. Kato. The Realization of Dynamic Walking by The Biped Walking Robot WL-10RD.Journal of the Robotics Society of Japan, Vol. 3, No. 4, pp.325-336, 1985 https://doi.org/10.7210/jrsj.3.325
  3. F. Gubina, H. Hemami., R. B. McGhee. On the Dynamic Stability of Biped Locomotion. IEEE trans. on Biomd. Engineering, Vol. BME-21, pp.102-108, 1974 https://doi.org/10.1109/TBME.1974.324294
  4. T. T. lee and J. Liao. Trajectory Planning and Controlk of a3-link Biped Robot. IEEE Robotics and Automation, pp. 820-823, 1988
  5. J. Furusho, A. Sano. Sensor-Based Control of a Nine-Link Biped. Int. J. Robot. Res., Vol.9, No.2, pp.83-98, 1990 https://doi.org/10.1177/027836499000900207
  6. S. H. Lim and J. G. Kim. Biped Locomotion with Mechanical Compliance. Korea Robotics and Automation Workshop Conference, pp.21-25, 1992
  7. Kawamura S. et al. Realization of Biped Locomotion by Motion Pattern Learning. Journal of Robot Society of Japan Vol.3, No.3, pp.177-180, 1985 https://doi.org/10.7210/jrsj.3.177
  8. K.Ohnishi, M.Shibata & T.Murakami. Motion Control for Advanced Mechatronics. IEEE.ASME Trans. On Mechatronics, Vol.1, No.1, pp. 56-67, 1996 https://doi.org/10.1109/3516.491410
  9. C. L. Shih. Analysis of the Dynamics of a Biped Robot with Seven Degrees of Freedom. IEEE International Conference on Robotics and Automation, pp. 3008-3013, 1996
  10. Hirai, K., et al. 1998. The development of Honda humanoid robot. Proceedings of ICRA 2:1321-1326
  11. M. Vukobratovic and D. Juricic, "Contribution to the Synthesis of Biped Gai," IEEE trans. on Bio-Medical Engineering, Vol. BME-16, No. 1, pp. 1-6, 1969 https://doi.org/10.1109/TBME.1969.4502596
  12. Qiang Huang, et al, "Planning Walking Patterns for a Biped Robot,""IEEE trans. on Robotics and Automation, Vol. 17, No.3 pp. 280-289, 2001 https://doi.org/10.1109/70.938385
  13. A. Takanishi, et al., "The Realization of Dynamic Walking Robot WL-10RD," Proc. Int. Conf. Advanced Robotics, pp. 459-466, 1985
  14. C.L. Shin, et al., "Trajectory Synthesis and Physical Admissibility for a Biped Root During the Single-Support Phase," Proc. of ICRA, pp. 1646-1652, 1990
  15. Qiang Huang, et al, "Planning Walking Patterns for a Biped Robot,""IEEE trans. on Robotics and Automation, Vol. 17, No.3 pp. 280-289, 2001 https://doi.org/10.1109/70.938385
  16. Ichiro Kato. Development of Waseda Robot. Humanoid Robotics Institute, Waseda University, 2000
  17. J. Pratt and G. Pratt. Exploiting natural dynamics in the control of a planar bipedal walking robot. Proceedings of the Thirty-Sixth Annual Allerton Conference on Communication, Control, and Computing, pp. 739-748, 1998
  18. Pratt, Jerry, Pratt, Gill 1999. Exploiting Natural Dynamics in the Control of a 3D Bipedal Walking Simulation. Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR99), Portsmouth, UK, September 1999
  19. Stephane Mojon. Realization of a Physic Simulation for a Biped Robot. Swiss Federal Institute of Technology Lausanne (EPFL), School of Computer and Communication Sciences, 27th of June 2003
  20. Joon Ng. An Anthropomorphic Bipedal Robot. Centre for Intelligent Information Processing Systems Department of Electrical/Electronic Engineering. The University of Western Australia. Final Year Project Report 1998
  21. Elliot Nicholls. Bipedal Dynamic Walking in Robotics. The University of Western Australia Department of Electrical and Electronic Engineering. October 26, 1998
  22. Hun-ok Lim and Atsuo Takanishi. Waseda Biped Humanoid Robots Realizing Human-like Motion. Waseda University Advanced Research Institute for Science and Engineering, Waseda University. IEEE 2000
  23. M.W. Spong, M. Vidyasagar, John Wiley & Sons, "Robot Dynamics and Control," 1989
  24. K. Erbatur, A. Okazaki, K. Obiya, T. Takahashi, A. Kawamura, "A study on the zero moment point measurement for biped walking robots", Int. Workshop on Advanced Motion Control, pp.431-436, July 2002
  25. Richard S. Wright JR, and Michael Sweet. OpenGL Superbible, The Waite Group, 1996