• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1839_1840
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• 2009

본 논문에서는 4족 보행 로봇의 제작을 위한 4족 보행 로봇 시뮬레이터를 구성한다. 우선 제작하고자 하는 4족 보행 로봇의 기구학 모델링은 순기구학 모델과 역기구학 모델을 유도하며 역기구학 모델은 기하학적 방법을 이용한다. 한편 구성된 시뮬레이터에서는 유도한 4족 보행 로봇의 모델을 이용한 보행 패턴 생성 등은 PC에서 연산하며 연산된 값은 4족 보행 로봇의 컨트롤러를 이용하여 각 모터에 전송 가능하며, 이때 PC와 제어기 사이의 통신은 지그비(Zigbee)를 이용한 무선 통신을 사용한다. 또한 모든 연산 과정 및 실제 시뮬레이터 구성은 MATLAB을 이용한다. 마지막으로, 기존 걸음새 패턴 생성 방법을 이용 하여 구성된 4족 보행 로봇 시뮬레이터의 효용성을 검증하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.169-175
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• 2016

There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.466-472
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• 2013

In this paper, we propose a gait generation method for a quadruped robot using the waist joints which can minimize the body shake during the locomotion. In this proposed method, we first calculate the hip coordinate of tilted body using the geometrical model of a quadruped robot, and then move the CoG(Center of Gravity) of a quadruped robot using 2-DOF waist joints to minimizes the body shake. In addition, the gait of a quadruped robot is generated based on the wave gait method. Finally, we verify the effectiveness of the proposed method by comparing with that of the previous method through the computer simulations.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.673-678
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• 2011

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.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1665-1674
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• 2013

In this paper, we propose a genetic algorithm(GA) based locomotion method of a quadruped robot with waist joint, which makes a quadruped robot walk on the slop efficiently. In the proposed method, we first derive the kinematic model of a quadruped robot with waist joint and then set the gene and the fitness function for GA. In addition, we determine the best attitude for a quadruped robot and the landing point of a foot in the walk space, which has the optimal energy stability margin(ESM). Finally, we verify the effectiveness of the proposed method by comparing with the performance of the previous method through the computer simulations.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.132-137
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• 2011

The walking mobility with stability of 4 legged robots is the distinguished skills for many application areas. Planning gaits of efficient walking for quadruped robots is an important and challenging task. Especially, autonomous generation of locomotion is required to manage various robot models and environments. In this paper, we propose an adaptive locomotion control of 4 legged robot for irregular terrain using HyperNEAT. Generated locomotion is executed and analysed using ODE based Webots simulation for the 4 legged robot which is built by Bioloid.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.327-331
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• 2006

본 논문은 엔터테인먼트 4족 보행로봇에 관한 것으로 24개의 자유도와 비접촉온도 3축 모션, 터치, 음성인식, CCD 카메라와 IR 센서를 내포하고 있다. 4족 보행로봇을 비평탄지형에서 안정되게 보행시키기 위한 알고리즘과 원격지에서 로봇을 제어하기 위한 알고리즘을 제안한다. 제안한 보행안정화 알고리즘은 다양한 센서들을 이용하여 불확실한 환경 하에서 안정된 보행이 되도록 하였으며, PC 상의 GUI와 음성인식 시스템을 이용하여 로봇을 무선으로 원격제어하게 하였다. 개발한 4족 보행로봇의 실험을 통하여 제안한 알고리즘을 검증하였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.6
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• pp.1247-1252
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• 2005

Though a legged robot has a high terrain adaptability as compared with a wheeled robot, its moving speed is considerably low in general. For attaining a high moving speed with a logged robot, a dynamically stable walking is a promising solution. However, the energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, energy consumption of two walking patterns for a trot gait is simulated through modeling a quadruped walking robot named TITAN-VIII.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.3
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• pp.305-311
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• 2012

In this paper, we propose a gait generation method for quadruped robots using the xz-axis sway of the quadruped robot, which minimizes the shake of the quadruped robot and maximizes the stability margin. In the proposed method, the gait is generated based on wave gaits and the stability analysis uses the body tilt information of the quadruped robot according to the leg's height of leg. In addition, to reduce the impact on the body caused by the z-axis sway while walking, the proposed method generates the smooth walking movement trajectory with less impact by using Fourier series. Finally, to verify the applicability and effectiveness of the proposed method, we carry out the computer simulations and the real walking experiments with the implemented quadruped robot.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.4
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• pp.781-788
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• 2013

In this paper, we introduce a quadruped robot-based alarm system for monitoring the emergency situation due to falling in the elderly. Quadruped robot includes the FPGA Board(Field Programmable Gate Array) applying a red-color tracking algorithm. To detect a falling of the elderly, a sensor node is worn on chest and accelerations and angular velocities measured by the sensor node are transferred to quadruped robot, and then the emergency signal is transmitted to manager if a fall is detected. Manager controls the robot and then he judges the situation by monitoring the real-time images transmitted from the robot. If emergency situation is decided by the manager, he calls 119. When the fall detection system using only sensor nodes is used, sensitivity of 100% and specificity of 98.98% were measured. Using the combination of the fall detection system and portable camera (robot), the emergency situation was detected to 100 %.