Browse > Article
http://dx.doi.org/10.20910/JASE.2018.12.5.16

Robot Control Method in Parameter Space Adopting Biomimetics  

Kim, Heejoong (The 7th R&D Institute, Agency for Defense Development)
Publication Information
Journal of Aerospace System Engineering / v.12, no.5, 2018 , pp. 16-23 More about this Journal
Abstract
In the paper, a robot control technique by employing Biomimetics is described. Rhythmic movements of the diving beetle's leg were analyzed and the formulated equations on the motion were drawn by applying Fourier least mean square fitting method. Simple control parameters were defined by comparing the observed locomotion through a motion capture system and reproduced motions according to changes in the values in the equation. Subsequently, the correlation of each parameter was discovered and expressed in a parameter space. Apparently, it was confirmed that various bio-mimicking motions can simply be generated for controlling the robot. Additionally, robot designing based on adopting structural advantages which the living organism possess have been briefly introduced. The proposed bio-mimicking motion generating technique was observed to be applicable to robot system developments under various environmental conditions.
Keywords
Biomimetics; Parameter Space; Robot Control; Bio-mimicking Motion; Bio-inspired Robot;
Citations & Related Records
연도 인용수 순위
  • Reference
1 R. J. Wood, "Liftoff of a 60mg apping-wing fl MAV," in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1889-1894, 2007.
2 K. K. Safak and G. G. Adams, "Dynamic Modeling and Hydrodynamic Performance of Biomimetic Underwater Robot locomotion," Autonomous Robot, vol. 13, pp. 223-240, 2002.   DOI
3 K. H. Low, C. Zhou, and Y. Zhong, "Gait planning for steady swimming control of biomimetic fish robots," Advanced Robotics, vol. 23, pp. 805-829, 2009.   DOI
4 B. Jun, "Multi-legged Seabed Robot Crabster(CR200) for the Exploration of High Tide and Low Visibility Environment," Institute of Control Robotics and Systems, vol. 19, no. 3, pp. 14-25, Sep. 2013.
5 H. Kim and J. Lee, "Swimming Pattern Analysis of a Diving beetle for Aquatic Locomotion Applying to Articulated Underwater Robots," Korea Robotics Society, vol.7, no. 4, pp. 259-266, Dec. 2012.   DOI
6 H. Kim and J. Lee, "Swimming Plans for a Bio-inspired Articulated Underwater Robot," Institute of Control Robotics and Systems, vol. 19, no. 9, pp. 782-790, Sep. 2013.   DOI
7 H. Kim, B. Jun, and J. Lee, "Multi-functional bio-inspired leg for underwater robots," Proc. of International Robots and Systems 2014, Chicago, USA, pp. 1087-1092, Sep. 2014.