• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.105.2-105
• /
• 2002

$\textbullet$ Statically stable walk with COG(center of gravity) $\textbullet$ Dynamically stable walk with ZMP(zero moment point) $\textbullet$ Dynamically adaptational stable walk with FRI(foot ratation indicator) $\textbullet$ Simplified inverted pendulum model approach $\textbullet$ Analysis posture of biped's foot as passive joint $\textbullet$ Stability compensation method of FRI against falling down $\textbullet$ Simulation of ZMP and FRI to real biped robot IWR-III

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.11
• /
• pp.2266-2268
• /
• 2009

In this paper, a simple method of angle velocity estimation is presented for a passive dynamic biped robot. The estimation problem is not an easy task because its dynamic model is a hybrid system involved with an impact condition. Instead of designing a complex observer for hybrid systems we simply utilize the impact condition to reset the initial condition of the high-pass filter when the non-support leg hits the slope. The approach has been verified by simulation results.

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

• Proceedings of the KSME Conference
• /
• 2005.11a
• /
• pp.201.2-201.2
• /
• 2005

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.10a
• /
• pp.153-154
• /
• 2009

• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.7 s.184
• /
• pp.24-29
• /
• 2006

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.6 s.177
• /
• pp.1513-1519
• /
• 2000

This paper proposes a hybrid control method of using impedance control and the computed-torque control for biped robot locomotion. Computed torque control is used for supporting (constrained) leg. For the free leg, the impedance control is used, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. Computer simulations with a 3 -dof environment model for which a combination of a nonlinear and a linear compliant models is used, show that the proposed controller is superior to the computed-torque controllers in reducing impacts and stabilizing the footing.

• Journal of Mechanical Science and Technology
• /
• v.20 no.5
• /
• pp.612-620
• /
• 2006

This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Proceedings of the KSME Conference
• /
• 2000.11a
• /
• pp.576-583
• /
• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.209-214
• /
• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.