Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Quadruped Walking Control of DRC-HUBO

DRC 휴보의 4족 보행 제어

  • Kim, Jung-Yup (Department of Mechanical System Design Engineering, Seoul National University of Science & Technology)
  • Received : 2015.08.19
  • Accepted : 2015.10.05
  • Published : 2015.10.15
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Abstract

In this paper, we describe the quadruped walking-control algorithm of the complete full-size humanoid DARPA Robotics Challenge-HUBO (DRC-HUBO) robot. Although DRC-HUBO is a biped robot, we require a quadruped walking function using two legs and two arms to overcome uneven terrains in the DRC. We design a wave-type quadruped walking pattern as a feedforward control using several walking parameters, and we design zero moment point (ZMP) controllers to maintain stable walking using an inverted pendulum model and an observed-state feedback control scheme. In particular, we propose a switching algorithm for ZMP controllers using supporting value and weighting factors in order to maintain the ZMP control performance during foot switching. Finally, we verify the proposed algorithm by performing quadruped walking experiments using DRC-HUBO.

Keywords

References

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