Browse > Article

A Study on the Walking Stability of the Quadruped Robot with WBO  

Choi Gi Hun (중앙대학교 대학원)
Kim Young Tark (중앙대학교)
Yoo Jae Myung (중앙대학교 기계공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.6, 2005 , pp. 118-126 More about this Journal
Abstract
There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.
Keywords
Quadruped robot; ZMP(Zero moment point); Walking stability; WBO(Weight balance oscillator);
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Kato. T, Takanishi, A., Ishikawa, H, 'The Realization of Quasi-Dynamic Walking by a biped Walking Machine,' Proc. of the 4th CISM-IFTOMM Symposium, Theory and Practice of Robots and Manipulation, pp. 341-351, 1983
2 Muybridge, E., Lewis, S., 'Animals in Motion,' Dover Pubns, 1957
3 Kurazume, R., Hirose, S., Yoneda, K., 'Feedforward and feedback dynamics trot dynamics control for Quadruped walking vehicle,' Proc. of the IEEE Inter. Con. on Robotics & Automation, pp. 3172-3180, 2001   DOI
4 Park, I.G., Kim, J.G.,'Dynamic walking planning and inverse Dynamic Analysis of biped robot,' J. of the KSPE, Vol. 17, No.9, pp. 133-144, 2000   과학기술학회마을
5 Takeuchi, H., 'Development of MEL HORSE,' Proc. of the IEEE Inter. Con. on Robotics & Automation, pp.3165-3171, 2001   DOI
6 Takanishi, A., Yamaguchi, J., Iwata, M., 'Dynamic Quadruped Walking Stabilized with Trunk Motion,' IEEE, pp. 165-172, 1995   DOI
7 Lee, S., Cho, C., 'On-line control algorithm of a quadruped walking robot with quasi-static model,' Proc. of the IEEE/RSJ Inter. Con. on Intelligent Robots and Systems, pp. 1645-1650, 1999   DOI
8 C. L. Shin, Y. Z. Li, S. Churng, T. T. Lee, W. A. Gruven, 'Trajectory synthesis and physical admissibility for a biped robot during the single support phase,' IEEE, pp.1646-1650, 1990   DOI
9 Lin, B., Song, S., 'Dynamic Modeling, Stability and Energy Efficiency of A Quadrupedal Walking Machine,' IEEE, pp. 367-373, 1993   DOI
10 Nanua, P., Waldron, K., 'Energy Comparison Between Trot, Bound, and Gallop Using a Simple Model,' Trans. of the ASME, Vol. 117, pp. 466-473, 1995
11 Emura, T., Arakawa, A., 'Attitude Control of a Quadruped Robot during Two Legs Supporting,' 91 ICAR., Fifth International Conference on Advanced Robotics, Vol. 1, pp. 711-716, 1991   DOI
12 Vukobratovic, M., Juricic, D., 'Contribution to the Synthesis of Biped Gait,' Proc. IEEE Trans. On Biomedical Eng., Vol. BME-16, No.1, 1969
13 Vukobratovic, M., Frank, A., and Juricic, D., 'On the Stability of Biped Locomotion,' Proc. of the IEEE Trans. on Biomedical Eng., Vol. BME-17 No. 1 pp. 25-36, 1970