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http://dx.doi.org/10.5391/JKIIS.2013.23.1.51

A Study on Walking Stabilization and Path Tracking of Biped Robot Using RFID  

Park, Jong-Han (Graduate School of Bio and Information Technology, Hankyong National University)
Kim, Yong-Tae (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.23, no.1, 2013 , pp. 51-56 More about this Journal
Abstract
In order to apply a biped robot in real world, the robot requires a robust walking and a function of localization, path planning and navigation. Recently, localization and path planning using RFID of mobile robot has been studying. However, when the biped robot walks, it has unstability and tends to leave the path. In the paper we propose a method of walking stabilization using FSR(Force Sensing Resistor), Gyro and accelerometer for the real biped robot. Also a path tracking algorithm using RFID sensor attached in robot's foot is proposed based on localization of the robot. The proposed algorithm is verified from walking experiments using real biped robot on uneven terrain and path tracking experiments on the RFID environments.
Keywords
Biped Robot; Walking Stabilization; Localization; RFID; Path Tracking;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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2 Yong-Kwan Ji and Jahng-Hyon Park, "Obstacle Avoidance of a Mobile Robot using Passive RFID's in an Indoor Environment," Proceeding of Mechanical Engineers Fall Conference, pp. 99-104, 2006.
3 Su-Hee Noh and Yong-Tae Kim, "Behavior Planning for Humanoid Robot Using Behavior Primitive," Journal of Korean Institute of Intelligent Systems, vol. 19, pp. 108-114, 2009.   과학기술학회마을   DOI   ScienceOn
4 Jung-Ho Lee, Walking Pattern Generation Algorithm with Variable Period and Pace Using Sinusoidal Curve for a Biped Robot, Master Thesis, Korea University, 2007.
5 Su-Hee Noh, Doo-Young Na and Yong-Tae Kim "Walking Stabilization Using Locomotion Primitive for Humanoid Robots," Journal of Korean Institute of Intelligent Systems, vol. 19, no. 2, pp. 125-126, 2009.