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A Study on Motion Planning Generation of Jumping Robot Control Using Model Transformation Method  

서진호 (동아대학교 전기전자컴퓨터공학부)
산북창의 (동경공업대학 제어시스템공학과)
이권순 (동아대학교 전기전자컴퓨터공학부 국가지정연구실(NRL))
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.4, 2004 , pp. 120-131 More about this Journal
Abstract
In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; ⅰ) an one-leg phase, ⅱ) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.
Keywords
Nonholonomic; Linearization; Stochastic dynamic manipulability; Iterative loaming control; LQ optimal control;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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