• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.5 s.305
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• pp.13-18
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• 2005

Over the last few years, the control of bipedal robot has been considered a promising but difficult research field in the community of robotics. In this paper, a new robust output control method for a bipedal robot is proposed using the adaptive fuzzy logic. The adaptive fuzzy logic is used as an system approximator to cancel the unknown uncertainty. First, a model for a bipedal robot including switching leg influence, uncertainty and disturbance is presented. Second, a controller is designed in which the joint velocity measurement is not required. Fuzzy approximation error estimator is inserted in the system for tuning the fuzzy logic. Finally, the result of the computer simulation is presented to show the validity of the suggested control method.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.10
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• pp.89-94
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• 2012

This research is to apply the control of neuron networks for the real-time walking control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of walking control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. This paper proposes a new mode to implement a neural network controller by installing a real object for controlling and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The proposed control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.107-110
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• 2004

이족 로봇은 기존의 바퀴로 움직이는 로봇에 비해 더 큰 이동성을 가지고 있다. 하지만 현실적으로는 쉽게 넘어지는 경향이 있어서, 보행시 동적인 안정성을 확보해야 할 필요성이 있다. 하지만 이를 위한 기구학적 해석이나 동역학적 해석이 너무 난해하다는 단점이 있다. 본 논문에서는, 이족 로봇의 동적 보행에 있어서 안정성을 확보하기 위해 퍼지 모델을 설계하고, 시뮬레이션을 실현함으로써 본 논문에서 제안된 보행 알고리즘이 실현가능한 것임을 확인한다.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1740-1741
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• 2007

본 논문은 이족 로봇에서의 효과적으로 동체를 탐지하는 방법에 대하여 논한다. 이족 로봇의 움직임은 모바일 로봇의 움직임과는 달리 종횡의 움직임이 동시에 나타나게 된다. 따라서 로봇의 비젼이 움직이는 상황에서 움직이는 물체를 탐지해야 한다. 따라서 본 논문에서는 로봇의 움직임을 분석하여 로봇의 움직임을 보정하여 보다 높은 성능의 동체 탐지 성능을 높였다. 제안된 방법을 실제의 로봇으로부터의 영상을 통하여 실험한 결과 우수한 탐지 성능을 얻을 수 있었다.

• 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.

• Journal of Korea Entertainment Industry Association
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• v.8 no.2
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• pp.283-297
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• 2014

The future of human life is expected to be innovative by increasing social, economic, political and personal, including all areas of life across the multi-disciplinary skills. Particularly, in the field of robotics and next-generation games with robots, by multidisciplinary contributions and interaction, convergence between technology is expected to accelerate more and more. The purpose of this study is that by new interface model beyond the technical limitations of the "human-robot interface technology," until now and time and spatial constraints and through fusion of various modalities which existing human-robot interface technologies can't have, the research of more reliable and easy free "human-robot interface technology". This is the research of robot game system which develop and utilizing real time synchronization engine linking between biped humanoid robot and the behavior of the position value of mobile device screen's 3D content (contents), robot (virtual robots), the wireless protocol for sending and receiving (Protocol) mutual information and development of a teaching program of "Direct Teaching & Play" by the study for effective teaching.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.659-667
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• 2011

The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.

• ETRI Journal
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• v.31 no.5
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• pp.565-575
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• 2009

This paper concerns the use of support vector regression (SVR), which is based on the kernel method for learning from examples, in identification of walking robots. To handle complex dynamics in humanoid robot and realize stable walking, this paper develops and implements two types of reference natural motions for a humanoid, namely, walking trajectories on a flat floor and on an ascending slope. Next, SVR is applied to model stable walking motions by considering these actual motions. Three kinds of kernels, namely, linear, polynomial, and radial basis function (RBF), are considered, and the results from these kernels are compared and evaluated. The results show that the SVR approach works well, and SVR with the RBF kernel function provides the best performance. Plus, it can be effectively applied to model and control a practical biped walking robot.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1029-1038
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• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.