• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.839-840
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• 2006

Our paper proposes a novel moving object tracking scheme for biped robot using a single camera. For walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum model. This analysis leads us a simple linear dynamics. And, the control parameter of the biped robot is derived from the feedback signal which converges the position of a image feature to the feature position of a desired image and the feedforward signal which compensates the motion component due to the moving object.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.4
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• pp.446-454
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• 2011

In terms of the anatomy and mechanics of the human foot, a flexible robot foot with toes and heel joints is designed for a bipedal walking robot. We suggest three design considerations in determining foot design parameters which are critical for walking stability. Those include the position of the frontal toe, the stiffness of toes and heels, and the position of the ankle joint. Compared with the conventional foot with flat sale, the proposed foot is advantageous for human-like walking due to the inherent structural flexibility and the reasonable parameter values. Simulation results are provided to determine the design parameters and also show that the proposed foot enables smaller energy consumption.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.1
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• pp.24-28
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• 2013

In this paper, a procedure of design and development of a child-sized humanoid robot is described. The design concept for a humanoid robot was proposed and the mechanism of the humanoid robot which is more than 1 meter tall was designed by using 3D design tools. By considering the lightweight of the robot, the hardware for the robot was designed for optimal performance. The frames and links of the robot designed by 3D design tools was manufactured through precision machining with the material which is light and have a good strength. The manufactured child-sized humanoid robot was experimented with basic motions applied inverse kinematics and balance control, and the performance of the motions were verified.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.5
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• pp.477-481
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• 2014

Human has various types of emotions which affect speculation, judgement, activity, and the like at the moment. Specifically, walking is also affected by emotions, because one's emotion status can be easily inferred by his or her walking style. The present research on biped walking with humanoid robots is mainly focused on stable walking irrespective of ground condition. For effective human-robot interaction, however, walking pattern needs to be changed depending on the emotion status of the robot. This paper provides analysis and comparison of gait experiment data for the men and women in four representative emotion states, i.e., joy, sorrow, ease, and anger, which was acquired by a gait analysis system. The data and analysis results provided in this paper will be referenced to emotional biped walking of a humanoid robot.

• Journal of the Korea Convergence Society
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• v.11 no.5
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• pp.175-182
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• 2020

The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

• Journal of Advanced Navigation Technology
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• v.11 no.2
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• pp.209-216
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• 2007

In this paper, we embodied posture-stabilization and dynamic gait in a walking robot. 10 RC servo motors are used to operate joints. And the joints have enough moving ranges suitable in any walking pattern. Each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using Zero Moment Point from the robot modeling. To avoid complex structure and expression, Zero Moment Point of the biped robot used angular acceleration is suggested. To measure the stability of the biped robot, Tilt sensor and gyro sensor are used. Finally, Personal Computer is used computer monitoring and data processing. Most of computation, such as 10 RC servo motor control, joint trajectory generating, ZMP compensation, sense measuring, etc, was used Digital Signal Processor.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.315-319
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• 2006

Support vector machines in biped humanoid robot are presented in this paper. The trajectory of the ZMP in biped walking robot poses an important criterion for the balance of the walking robots but complex dynamics involved make robot control difficult. We are establishing empirical relationships based on the dynamic stability of motion using SVMs. SVMs and kernel method have become very popular method for learning from examples. We applied SVM to model the practical humanoid robot. Three kinds of kernels are employed also and each result has been compared. As a result, SVM based on kernel method have been found to work well. Especially SVM with RBF kernel function provides the best results. The simulation results show that the generated ZMP from the SVM can be improve the stability of the biped walking robot and it can be effectively used to model and control practical biped walking robot.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.233-240
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• 2006

This paper presents the robust control method using a self recurrent wavelet neural network (SRWNN) via adaptive backstepping design technique for stable walking of biped robots with unknown model uncertainties. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the biped robots. The adaptation laws for weights of the SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Computer simulations of a five-link biped robot with unknown model uncertainties verify the validity of the proposed control system.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.886-892
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• 2008

In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.343-343
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. Using this, we developed a new type of 10 D.O.F biped robot. The dynamics model of the biped robot is investigated in this paper. In the modeling process, the robot dynamics are expressed in the joint coordinates using the Euler-Lagrange equation. Then, they are converted in to the sliding joint coordinates, and joint torques are expressed in the force along the sliding direction of the ball screw. To test modeling of the robot, a computer simulation was performed.