Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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A Study on the Stability of Dynamic Walking of a Humanoid Robot

휴머노이드 로봇의 동보행 안정도에 관한 연구

  • Lee, Ji-Young (School of Electronic Engineering, Kumoh National Institute of Technology) ;
  • Cho, Jung-San (Korea Institute of Industrial Technology) ;
  • Lee, Sang-Jae (School of Electronic Engineering, Kumoh National Institute of Technology)
  • 이지영 (금오공과대학교 전자공학부) ;
  • 조정산 (한국생산기술연구원) ;
  • 이상재 (금오공과대학교 전자공학부)
  • Received : 2016.01.29
  • Accepted : 2016.04.07
  • Published : 2016.04.30
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Abstract

In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.

Keywords

References

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