한국군사과학기술학회지 (Journal of the Korea Institute of Military Science and Technology)

  • 제17권6호
  • /
  • Pages.853-860
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  • 2014
  • /
  • 1598-9127(pISSN)
  • /
  • 2636-0640(eISSN)
한국군사과학기술학회 (The Korea Institute of Military Science and Technology)
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구난로봇을 위한 전신 기구학 제어 연구

A Study of Whole Body Kinematic Control for a Rescue Robot

  • 홍성일 (국방과학연구소 제5기술연구본부) ;
  • 이원석 (국방과학연구소 제5기술연구본부) ;
  • 강신천 (국방과학연구소 제5기술연구본부) ;
  • 강윤식 (국방과학연구소 제5기술연구본부) ;
  • 박용운 (국방과학연구소 제5기술연구본부)
  • Hong, Seongil (The 5th Research and Development Institute, Agency for Defense Development) ;
  • Lee, Won Suk (The 5th Research and Development Institute, Agency for Defense Development) ;
  • Kang, Sin Cheon (The 5th Research and Development Institute, Agency for Defense Development) ;
  • Kang, Youn Sik (The 5th Research and Development Institute, Agency for Defense Development) ;
  • Park, Yong Woon (The 5th Research and Development Institute, Agency for Defense Development)
  • 투고 : 2014.03.20
  • 심사 : 2014.10.17
  • 발행 : 2014.12.05
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초록

This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.

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참고문헌

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