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http://dx.doi.org/10.5302/J.ICROS.2016.16.0168

Strategies for Driving and Egress for the Vehicle of a Humanoid Robot in the DRC Finals 2015  

Ahn, DongHyun (Department of Mechanics and Design, Kookmin University)
Shin, JuSeong (Department of Mechanics and Design, Kookmin University)
Jun, Youngbum (Howard R. Hughes College of Engineering, University of Nevada)
Sohn, Kiwon (Samuel I. Ward Department of Electrical and Computer Engineering University of Hartford)
Jang, Giho (Howard R. Hughes College of Engineering, University of Nevada)
Oh, Paul (Howard R. Hughes College of Engineering, University of Nevada)
Cho, Baek-Kyu (School of Mechanical System Engineering, Kookmin University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.11, 2016 , pp. 912-918 More about this Journal
Abstract
This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.
Keywords
humanoid robot; driving; egress; locomotion; balance;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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