Browse > Article
http://dx.doi.org/10.5391/JKIIS.2011.21.6.673

Analysis on Boundary Condition for Standing Balance of Four-Legged Robots  

Kim, Byoung-Ho (Biomimetics & Intelligent Robotics Lab., Dept. of Mechatronics Eng., Kyungsung Univ.)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.6, 2011 , pp. 673-678 More about this Journal
Abstract
This paper analyzes the standing balance of four-legged robots which are useful for delivering objects or investigating of information. For this, we specify an effective model of general four-legged robots and propose a boundary condition based on the standing stability of the four-legged walking. To verify such a standing balance, we consider some exemplary free motions at the standing mode of the robot and discuss on the robot's balance margin. The analysis specified in this paper will be applicable for effective balancing control of various quadruped robotic walking.
Keywords
Standing balance; Four-legged robots; Stability-based boundary condition;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 K. Arikawa and S. Hirose, "Development of quadruped walking robot TITAN-VIII," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 208-214, 1996.
2 G. S. Hornby, S. Takamura, T. Yamamoto, and M. Fujita, "Autonomous evolution of dynamic gaits with two quadruped robots," IEEE Transactions on Robotics, vol. 21, no. 3, pp. 402-410, 2005.   DOI
3 J. Estremera and P. G. deSantos, "Generating continuous free crab gaits for quadruped robots on irregular terrain," IEEE Transactions on Robotics, vol. 21, no. 6, pp. 1067-1076, 2005.   DOI
4 http://www.bostondynamics.com/, Boston Dynamics co., USA.
5 P.-C. Lin, H. Komsuoglu, and D. E. Koditschek, "A leg configuration measurement system for full-body pose estimates in hexapod robot," IEEE Transactions on Robotics, vol. 21, no. 3, pp. 411-422, 2005.   DOI
6 S. Nakajima, E. Nakano, and T. Takahashi, "Motion control technique for practical use of a leg-wheel robot on unknown outdoor rough terrains," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1353-1358, 2004.
7 R. Siegwart and I. R. Nourbakhsh, Introduction to autonomous mobile robots, The MIT Press, 2004.
8 T. Morita, K. Shibuya, and S. Sugano, "Design and control of mobile maniulation system for human symbiotic humanoid: Hadaly-2," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1315-1320, 1998.
9 M. Hans, B. Graf, and R. D. Schraft, "Robotic home assistant care-o-bot: past-present-future," Proc. of 11th Int. workshop on robot and human interactive communication, pp. 380-385, 2002.
10 M. Takahashi, K. Yoneda, and S. Hirose, "Rough terrain locomotion of a leg-wheel hybrid quadruped robot," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1090-1095, 2006.
11 B.-H Kim, "Analysis on effective walking pattern for multi-legged robots," Jour. of Korean Institute of Intelligent Systems, vol. 19, no. 5, pp. 622-628, 2009.   DOI
12 Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K, Fujimura, "The intelligent ASIMO: system overview and integration," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2478-2483, 2002.
13 Y. Ogura, H. Aikawa, K. Shimomura, H. Kondo, A. Morishima, H.-O. Lim, and A, Takanishi, "Development of a new humanoid robot, WABIAN-2," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2478-2483, 2002.
14 I. Mizuuchi, T. Yoshikai, Y. Sodeyama, Y. Nakanishi, A. Miyadera, T. Yamamoto, T. Niemela, M. Hayashi, J. Urata, Y. Namiki, T. Nishino, and M. Inaba, "Development of musculoskeletal humanoid Kotaro," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 82-87, 2006.
15 P. Harmo, T. Taipalus, J. Knuuttila, J. Vallet, and A. Halme, "Needs and solutions-home automation and service robots for the elderly and disabled," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3201-3206, 2005.
16 B.-H Kim, "Falling-based optimal foot trajectory planning for 3D bipedal robotic walking," Proc. of Int. Conf. on Advanced Robotics, pp. 82-87, 2011.
17 H. Surmann, A. Nuchter, and J. Hertzberg, "An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments," Robotics and Autonomous Systems, Vol. 45, pp. 181-198, 2003.   DOI
18 Y. Hada, H. Gakuhari, K. Takase, and E. I. Hemeldan, "Delivery service robot using distributed acquisition, actuators and inteliigence," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2997- 3002, 2004.
19 J. S. Mehling, P. Strawser, L. Bridgwater, W. K. Verdeyen, and R. Roverkamp, "Centaur: NASA's mobile humanoid designed for filed work," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2928- 2933, 2007.