Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of an Experimental Humanoid Robot and Dynamics Based Motion Optimization for Rescue Missions

구조/구난 임무 수행을 위한 실험용 휴머노이드 로봇의 개발과 동역학 기반의 모션 최적화

  • Hong, Seongil (Agency for Defense Development) ;
  • Lee, Youngwoo (Agency for Defense Development) ;
  • Park, Kyu Hyun (Agency for Defense Development) ;
  • Lee, Won Suk (Agency for Defense Development) ;
  • Sim, Okkee (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Oh, Jun-Ho (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • Received : 2015.06.03
  • Accepted : 2015.06.28
  • Published : 2015.08.01
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Abstract

This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.

Keywords

References

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