한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제26권4호
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  • Pages.72-81
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  • 2009
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

부드러운 지면에서의 휴머노이드 로봇의 안정보행

Stable Walking of a Humanoid Robot under Soft Terrains

  • 유영국 (인하대학교 IT 공과대학 전기공학부) ;
  • 김전걸 (인하대학교 IT 공과대학 전기공학부)
  • 발행 : 2009.04.01
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초록

The purpose of this paper is to accomplish the stable humanoid robot walking on the soft terrains. The goal of the humanoid robot development is to make the robotic system perform some tasks in human living environment. However, human dwelling environments are very different from those of laboratories, where varied experiments are performed by the robot. In many cases, the ground is soft or elastic unlike the floor of a laboratory. When a robot walks on the soft ground, the sole of robot contacts the uneven ground. This results in unstable walking or walking may be impossible according to the degree of softness. Therefore, the algorithm that facilitates stable walking on the soft ground surface is required. In this paper, we suggest an algorithm that controls the ankle to help the robot walk stably on the soft ground using the humanoid robot (ISHURO-II) as a real model. A humanoid robot walking on the soft ground was simulated to verify that the proposed algorithm results in stable walking.

키워드

참고문헌

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