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

  • 제21권7호
  • /
  • Pages.654-661
  • /
  • 2015
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

회전과 뒤집기 방식의 계단등반 로봇의 역동역학 모델링

Inverse Dynamic Modeling of a Stair-Climbing Robotic Platform with Flip Locomotion

  • 투고 : 2015.02.26
  • 심사 : 2015.05.13
  • 발행 : 2015.07.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

키워드

참고문헌

  1. DARPA robotics challenge, http://www.theroboticschallenge.org/, (retrieved at 10/09/14).
  2. J. S. Lim, J. W. Heo, J. H. Lee, H. I. Bae, and J. H. Oh, "Improvement Trend of a Humanoid Robot Platform HUBO2+," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 3, pp. 356-363, May. 2014. https://doi.org/10.5302/J.ICROS.2014.14.9022
  3. Packbot, http://www.irobot.com/us/learn/defense/packbot.aspx (retrieved at 10/09/14).
  4. I. W. Park, J. Y. Kim, J. H. Lee, and J. H. Oh, "Mechanical design of humanoid robot platform KHR-3 (KAIST Humanoid Robot 3: HUBO)," IEEE-RAS Int'l Conf. on Humanoid Robots, pp. 321-326, Tsukuba, Japan, Dec. 2005.
  5. Duke Robot Flipper, http://people.duke.edu/-jag27/robot.html (retrieved at 10/09/2014)
  6. H. S. Hong, T. W. Seo, D. M. Kim, S. H. Kim, and J. W. Kim, "Optimal design of hand-carrying rocker-bogie mechanism for stair climbing," Journal of Mechanical Science and Technology, vol. 27, no. 1, pp. 125-132, Jan. 2013. https://doi.org/10.1007/s12206-012-1212-y
  7. B. H. Seo, H. G. Kim, M. H. Kim, K. M. Jeong, and T. W. Seo, "FlipBot: a new robotic platform for fast stair climbing," International Journal of Precision Engineering and Manufacturing, vol. 14, no. 11, pp. 1909-1914, Nov. 2013. https://doi.org/10.1007/s12541-013-0259-8
  8. B. H. Seo, M. S. Shin, K. M. Jeong, and T. W. Seo, "Static analysis and experimentation on obstacle-overcoming for a novel field robotic platform using flip motion," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 10, pp. 1067-1072, Oct. 2014. https://doi.org/10.5302/J.ICROS.2014.14.8013
  9. M. S. Shin, B. H. Seo, K. M. Jeong, and T. W. Seo, "Development of robotic platform using Flip motion for obstacle climbing," Conference of Institute of Control, Robotics and Systems, pp. 396-397, Daegu, May 2014.
  10. M. H. Raibert, Legged Robots That Balance, Cambridge, MA: MIT Press, 1986.
  11. M. M. Dalvand and M. Moghadam, "Design and modeling of a stair climber smart mobile robot (MSRox)," 11th Int'l Conf. on Advanced Robotics, pp. 1062-1067, Coimbra, Portugal, Jun.-Jul. 2003.
  12. Honda P3, http://world.honda.com/ASIMO/P3/, (retrieved at 10/09/2014)
  13. U. Saranli, M. Buehler, and D. E. Koditschek, "Rhex: A simple and highly mobile hexapod robot," The Int'l Journal of Robotics Research, vol. 20, no. 7, pp. 616-631, Jul. 2001. https://doi.org/10.1177/02783640122067570
  14. A. Takanishi, H. O. Lim, M. Tsuda, and I. Kato, "Realization of dynamic biped walking stabilized by trunk motion on a sagitally uneven surface," IEEE/RSJ Int'l Workshop Intelligent Robots and Systems, pp. 323-330, Ibaraki, Jul. 1990.
  15. K. Tadakuma, R. Tadakuma, A. Maruyama, E. Rohmer, K. Nagatani, K. Yoshida, A. Ming, M. Shimojo, M. Higashimori, M. Kaneko, "Mechanical design of the wheel-leg hybrid mobile robot to realize a large wheel diameter," IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems, pp. 3358-3365, Taipei, Taiwan, Oct. 2010.
  16. S. M. Nam, J. K. Oh, G. U. Lee, J. W. Kim, and T. W. Seo, "Dynamic analysis during internal transition of on a compliant multi-body climbing robot with magnetic adhesion," Journal of Mechanical Science and Technology, vol. 28, no. 12, pp. 5175-5187, Dec. 2014. https://doi.org/10.1007/s12206-014-1141-z
  17. W. Khalil and S. Guegan, "Inverse and direct dynamic modeling of gough-stewart robots," IEEE Transaction on Robotics, vol. 20, no. 4, pp. 754-761, Aug. 2004. https://doi.org/10.1109/TRO.2004.829473
  18. O. Ibrahim and W. Khalil, "Inverse dynamic modeling of serialparallel hybrid robots," IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems, pp. 2156-2161, Beijing, China, Oct. 2006.
  19. D. S. Kwon and W. J. Book, "An inverse dynamic method yielding flexible manipulator state trajectories," IEEE Conf. on American Control, pp. 186-194, San Diego, USA, May. 1990.
  20. Y. Liu and G. Liu, "Track-stair interaction analysis and online tipover prediction for a self-reconfigurable tracked mobile robot climbing stairs," IEEE/ASME traction on mechatronics, vol. 14, no. 5, pp. 528-538, Oct. 2009. https://doi.org/10.1109/TMECH.2009.2005635
  21. S. B. Park, P. V. B. Ngoc, and H. S. Kim, "Inverse dynamics simulation of a delta-type parallel robot," Conference of Institute of Control, Robotics and Systems, pp. 189-190, Changwon, May 2013.