Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

Locomotion Control of Biped Robots with Serially-Linked Parallel Legs

이중 병렬형 다리 구조를 가진 2족보행로봇의 보행제어

  • Received : 2009.04.22
  • Accepted : 2010.03.31
  • Published : 2010.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose a new parallel mechanism for the legs of biped robots and the control of the robot's locomotion. A leg consists of two 3-DOF parallel platforms linked serially: one is an orientation platform for a thigh and the other is the 3-DOF asymmetric parallel platform for the shank. The desired locomotion trajectory is generated on the basis of the Gravity-Compensated Inverted Pendulum Mode (GCIPM) in the sagittal direction and the Linear Inverted Pendulum Mode (LIPM) in the lateral direction, respectively. In order to simulate the ground reaction force, a 6-DOF elastic pad model is used underneath each of the soles. The performance and effectiveness of the proposed parallel mechanism and locomotion control are shown by the results of computer simulations of a 12-DOF parallel biped robot using $SimMechanics^{(R)}$.

본 논문은 2족 보행로봇을 위한 새로운 병렬메카니즘을 제안하고 있다. 각 다리는 3자유도를 갖는 병렬 플랫폼 2개가 시리얼로 연결되어 있는데, 허벅지와 정갱이 역할을 한다. 이 제안된 로봇을 위한 보행 궤적은 보행평면상에서는 중력보상역진자모드를 사용하여 구하였고, 횡방향으로는 역진자모드를 사용하여 구하였다. 지면으로부터의 반발력을 시뮬레이션하기 위해 발바닥 밑에 6자유도의 패드를 사용하였다. 제안된 메카니즘과 보행제어의 효율성은 SimMechanics를 이용한 12자유도 병렬 2족보행로봇의 시뮬레이션을 통해 입증하였다.

Keywords

References

  1. Hirai, K., 1997, “Current and Future Perspective of Honda Humanoid Robot,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 500-508. https://doi.org/10.1109/IROS.1997.655059
  2. Kaneko, K., et al., 2002, “Design of Prototype Humanoid Robotics Platform for HRP,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2431-2436. https://doi.org/10.1109/IRDS.2002.1041632
  3. Kanehira, N., et al., 2002, “Design and Experiment of Advanced Leg Module (HRP-2L) for Humanoid Robot (HRP-2) Development,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2455-2460. https://doi.org/10.1109/IRDS.2002.1041636
  4. Kaneko, K., et al., 2004, “Humanoid Robot HRP-2,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1083-1090. https://doi.org/10.1109/ROBOT.2004.1307969
  5. Morisawa, M., Yakoh, T., Murakami, T. and Ohnishi, K., 2000, “An Approach to Biped Robot with Parallel Mechanism,” Proc. of Int. Workshop on Advance Motion Control, pp. 537-541. https://doi.org/10.1109/AMC.2000.862933
  6. Morisawa, M., Yakoh, T., Murakami, T. and Ohnishi, K., 2000, “A Comparison Study between Parallel and Serial Linked Structures in Biped Robot System,” Proc. of Annual Conf. of the IEEE Industrial Electronics Society, pp. 2614-2617. https://doi.org/10.1109/IECON.2000.972410
  7. Sellaouti, R., Konno, A. and Ouezdou, F. B., 2002, “Design of a 3 DOFs Parallel Actuated Mechanism for Biped Hip Joint,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1161-1166. https://doi.org/10.1109/ROBOT.2002.1014700
  8. Sugahara, Y., Endo, T., Lim, H. O. and Takanishi, A., 2002, “Design of a Battery-powered Multi-purpose Bipedal Locomotor with Parallel Mechanism,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2658-2663. https://doi.org/10.1109/IRDS.2002.1041671
  9. Sugahara, Y., Endo, T., Lim, H. O. and Takanishi, A., 2003, “Realization of Stable Dynamic Walking by a Parrallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control,”Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 595-600. https://doi.org/10.1109/IROS.2003.1250694
  10. Park, J. H. and Kim, K. D., 1998, “Biped Robot Walking Using Gravity-Compensated inverted Pendulum Mode and Computed-Torque Control,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3528-3533. https://doi.org/10.1109/ROBOT.1998.680985
  11. Kim, K. D. and Park, J. H., 1999, "Biped Robot Locomotion and Control Using Gravity-Compensated Inverted Pendulum Mode," Trans. Of the KSME A, Vol. 23, No. 2, pp. 209-216.
  12. Hogan, N., 1985, Impedance control: an approach to manipulation: Part I-III, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 107, pp. 1-24. https://doi.org/10.1115/1.3140702
  13. Park, J. H., 2001, “Impedance Control of Biped Locomotion,” IEEE Tr. On Robotics and Automation, Vol. 17, No. 6, pp. 870-882. https://doi.org/10.1109/70.976014
  14. Kwon, O. and Park, J. H., 2009, “Asymmetric Trajectory Generation and Impedance Control for Running of Biped Robots,” Autonomous Robots, Vol. 26, No. 1, pp. 47-78. https://doi.org/10.1007/s10514-008-9106-7
  15. Joshi, S. and Tsai, L.W., 2003, “A Comparison Study of Two 3-DOF Parallel Manipulators: One with Three and the Other with Four Supporting Legs,” IEEE Trans. on Robotics and Automation, Vol. 19, No. 2, pp. 200-209. https://doi.org/10.1109/TRA.2003.808857
  16. Tsai, L. W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons.