The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Posture Stabilization Control of Biped Transformer Robot under Disturbances

이족 트랜스포머 로봇의 외란 대응 자세 안정화 제어

  • Geun-Tae Kim (Department of Mechanical Design and Robot Engineering, Seoul National University of Science & Technology) ;
  • Myung-Hun Yeo (Department of Mechanical Design and Robot Engineering, Seoul National University of Science & Technology) ;
  • Jung-Yup Kim (Department of Mechanical System Design Engineering, Seoul National University of Science & Technology)
  • Received : 2023.05.10
  • Accepted : 2023.06.12
  • Published : 2023.08.31
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Abstract

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

Keywords

Acknowledgement

This research was supported by the Challengeable Future Defense Technology Research and Development Program through the Agency for Defense Development (ADD) funded by the Defense Acquisition Program Administration in 2023 (No.915018201)

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