• Title/Summary/Keyword: Biped Control

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A biped robot capable of determining the type of obstacle (장애물 유형의 판단이 가능한 2족 보행 로봇)

  • Yoo, Hye-Bin;Kim, Sang-Hoon
    • Proceedings of the Korea Information Processing Society Conference
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    • 2019.05a
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    • pp.260-262
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    • 2019
  • 2족 보행로봇의 가장 중요한 해결 과제는 인간과의 유사성일 것이다. 본 논문에서 2족 보행로봇의 기구부에서는 인간과 비슷한 관절 구조로, 제어부에서는 인간과 유사한 보행 알고리즘을 구현하고 계속해서 검토해나가며 기구부와 제어부를 조절하여 결론적으로는 인간과 유사하게 걸을 수 있도록 하는 것이 최종 목표이다.

A Design for a Behavior-based Controller and Its Application to Biped Robot Soccer (행위기반 제어 설계 및 2족 축구 로봇에의 적용)

  • Kim, Jong-Woo;Sung, Young-Whee
    • Journal of the Institute of Convergence Signal Processing
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    • v.10 no.1
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    • pp.80-85
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    • 2009
  • The performance of the robot is very limited in the conventional model-based control methods when the environments around a robot are not structured or are varying dynamically. The reason for that is the methods are based on the model of the environments which is very difficult to match with the real environments and on a path planning which is complex and time-consuming. On the other hand, the behavior-based control methods are not dependant on the model of the environments nor a complex planning. In those methods, a specific behavior is coupled with a specific sensor output, so the response of a robot is quite reactive and timely in dynamic and unstructured environments. In this thesis, we propose a situation dependant behavior based control architecture, in which a robot may behave differently to the same sensor output depending on various situations. We also show some experimental results to show the feasibility of the proposed control architecture.

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Time-Delay Control for the Implementation of the Optimal Walking Trajectory of Humanoid Robot

  • Ahn, Doo Sung
    • Journal of Drive and Control
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    • v.15 no.3
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    • pp.1-7
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    • 2018
  • Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

Rapid Development of a Humanoid Robot using Concurrent Implementation of CAD/CAM/CAE and RP (CAD/CAM/CAE/RP의 동시공학적 적용을 통한 휴머노이드 로봇의 쾌속 개발)

  • Park, Keun;Kim, Young-Seog;Kim, Chung-Seok;Park, Sung-Ho
    • Korean Journal of Computational Design and Engineering
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    • v.12 no.1
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    • pp.50-57
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    • 2007
  • In recent years, many robotics researches have been focused on developing human-friendly robots, that is, humanoid biped robots. The researches of humanoid robots include various areas such as hardware development, control of biped locomotion, artificial intelligence, human interaction, etc. The present work concerns the hardware development of a mid-size humanoid robot, BONOBO, focusing on rapid development of outer body parts with integrated application if CAD/CAM/CAE/RP. Most parts are three-dimensionally designed using 3D CAD, and effectively connected with CAE analyses using both kinematic simulation and structural analysis. In order to reduce lead time and investment cost for parts developments, Rapid Prototyping (RP) and CAM are selectively utilized for manufacturing body parts. These master parts are then replicated using the vacuum casting process, from which we can obtain plastic parts repeatedly. Through this integrated approach, the first prototype of BONOBO can be successfully developed with relatively low time and investment costs.

Precision Circular-path Walking of a Biped Robot with Consideration of Rotational Effects (회전효과를 고려한 이족 로봇의 정밀 원형 경로 보행)

  • Lim, Seungchul;Kwak, Byungmoon;Lim, Jooyoung;Son, Youngik
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.24 no.4
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    • pp.299-309
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    • 2014
  • When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS(R) along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.

Dynamic Gait embody using angular acceleration for a Walking Robot (각가속도를 이용한 이족 로봇의 동적 걸음새 구현)

  • Park, Jae-Mun;Park, Seung-Yub;Ko, Bong-Jin
    • 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.

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Control of Humanoid Robots Using Time-Delay-Estimation and Fuzzy Logic Systems

  • Ahn, Doo Sung
    • Journal of Drive and Control
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    • v.17 no.1
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    • pp.44-50
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    • 2020
  • For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

Quadruped Walking Control of DRC-HUBO (DRC 휴보의 4족 보행 제어)

  • Kim, Jung-Yup
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.24 no.5
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    • pp.548-552
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    • 2015
  • In this paper, we describe the quadruped walking-control algorithm of the complete full-size humanoid DARPA Robotics Challenge-HUBO (DRC-HUBO) robot. Although DRC-HUBO is a biped robot, we require a quadruped walking function using two legs and two arms to overcome uneven terrains in the DRC. We design a wave-type quadruped walking pattern as a feedforward control using several walking parameters, and we design zero moment point (ZMP) controllers to maintain stable walking using an inverted pendulum model and an observed-state feedback control scheme. In particular, we propose a switching algorithm for ZMP controllers using supporting value and weighting factors in order to maintain the ZMP control performance during foot switching. Finally, we verify the proposed algorithm by performing quadruped walking experiments using DRC-HUBO.

A Study on Stable Motion Control of Biped Robot with 18 Joints (18관절 2족보행 로봇의 안정한 모션제어에 관한연구)

  • Park, Youl-Moon;Thu, Le Xuan;Won, Jong-Beom;Park, Sung-Jun;Kim, Yong-Gil
    • Journal of the Korean Society of Industry Convergence
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    • v.17 no.2
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    • pp.35-41
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    • 2014
  • This paper describes the obstacle avoidance architecture to walk safely around in factory and home environment, and presents methods for path planning and obstacle avoidance for the humanoid robot. Solving the problem of obstacle avoidance for a humanoid robot in an unstructured environment is a big challenge, because the robot can easily lose its stability or fall down if it hits or steps on an obstacle. We briefly overview the general software architecture composed of perception, short and long term memory, behavior control, and motion control, and emphasize on our methods for obstacle detection by plane extraction, occupancy grid mapping, and path planning. A main technological target is to autonomously explore and wander around in home environments as well as to communicate with humans.