• Proceedings of the KSME Conference
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• 2005.11a
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• pp.203.2-203.2
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• 2005

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.739-744
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• 2008

Human-like biped robot is a representative multi-links manipulator and undoubted redundancy system. However many researchers separate biped robot into each limb and analyze the members individually for the convenience analysis. This approach is not desirable for natural trajectory generation and energy optimization. This paper proposes the analysis method considering both legs together and the weighted pseudoinverse optimizing energy consumption.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.417-425
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• 2012

This paper presents reference ZMP trajectory generation and implementation for a biped robot via linear inverted dumbbell model (LIDM), which can consider the effect of external momentum on the center of mass (COM) of robot. Based on a reference ZMP trajectory derived by using LIDM, a base trajectory is proposed not only to make the locomotion of robot similar to that of human but also to facilitate its implementation and tuning. In order to realize a dynamic walking using the proposed trajectory, compliance, impedance and ZMP tracking controllers are adopted together. Extensive experiments show that the proposed locomotion of a biped robot is stable and also, similar to that of human. Further researches on balance recovery of a biped robot will be carried out to guarantee its robust locomotion in combination with the proposed trajectory.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2717-2719
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• 2005

Generally, biped walking is difficult to control because a biped robot is a nonlinear system with various uncertainties. In this paper, we propose a hybrid control system to improve the efficiency of position tracking performance of biped locomotion. In our control system, the wavelet neural network (WNN) based on Sliding mode controller is used as a main controller which estimates a biped robot model, and the compensated controller is proposed to compensate the estimation error. A WNN is utilized to estimate uncertain and nonlinear system parameters, where the weights of WNN are trained by adaptive laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified through computer simulations.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.542-544
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• 2006

This paper aims to provide a way to improve dynamic stability of biped robots against undesirable disturbances and in a slope. By using an angular velocity sensor and an acceleration sensor on its waist, we can make a medium-sized biped robot walk stably in a slope against impulsive disturbances. In addition, it is possible for the robot to walk stably in an unknown slope. The measured signals from the sensor are used for compensating the reference angles of ankle, knee, and pelvis joints. Some experiments show that the stability of the robot is much enhanced by using cheat sensors and a simple algorithm. This work helps bided robots walk more stably in real environments.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.570-572
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• 2006

This paper discusses the method of moving object detection for biped robot walking. Most researches on vision based object detection have mostly focused on fixed camera based algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since hired walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, method for moving object detection has been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. But these methods are not suitable to biped walking robot. So, we suggest the advanced method which is suitable to biped walking robot platform. For carrying out certain tasks, an object detecting system using modified optical flow algorithm by wireless vision camera is implemented in a biped walking robot.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.424-426
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• 2005

We propose an analytic trajectory planning method using a wavelet neural network (WNN) for a natural and stable locomotion of the 9-link biped robot. We design a appropriate locomotion, which have a kick-action, by means of a ballastic walking model condition. In this paper, a WNN is used to interpolate the trajectory planed by the analytic method. Finally, we show the proposed trajectories through the computer simulation.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.309-311
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• 2006

This paper aims to provide a way to improve dynamic stability of biped robots against undesirable disturbances. By using an angular velocity sensor on its shoulder, we can make a medium-sized biped robot walk stably against an impulsive disturbance. The measured signal from the sensor in used for compensating the reference angles of ankle, knee, and pelvis joints. An experiment shows that the stability of the robot is much enhanced by using a cheap sensor and simple algorithm. This kind of research helps biped robots walk more stably in real environments.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.343-345
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• 2007

This paper proposes an inertial navigation system(INS) with which a biped robot can determine his position, velocity, posture, etc. The proposed system provides the information of robots independently without using any outer signals. The defect of the algorithm is the en'or accumulation as the robot increases the mobile range. However, in this application the problem is not so critical because the working space is small and operation period of the robots is relatively short. With the proposed INS system biped robots obtain enhanced intelligence to execute their tasks. The structure and theoretical backgrounds are utilized to design the INS system. The method for application of INS system to biped robots has been illustrated.