• 한국산업융합학회 논문집
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• 제19권1호
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• pp.1-9
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• 2016

In this paper, we propose a new learning control scheme for various walk motion control of biped robot with same learning-base by neural network. We show that learning control algorithm based on the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multi layer back propagation neural network identification is simulated to obtain a dynamic model of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The biped robots have been received increased attention due to several properties such as its human like mobility and the high-order dynamic equation. These properties enable the biped robots to perform the dangerous works instead of human beings. Thus, the stable walking control of the biped robots is a fundamentally hot issue and has been studied by many researchers. However, legged locomotion, it is difficult to control the biped robots. Besides, unlike the robot manipulator, the biped robot has an uncontrollable degree of freedom playing a dominant role for the stability of their locomotion in the biped robot dynamics. From the simulation and experiments the reliability of iterative learning control was illustrated.

• 한국지능시스템학회논문지
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• 제16권4호
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• pp.389-395
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• 2006

본 논문에서는 지능재어기법을 이용하여 이족로봇 제어기를 설계한다. 이족로봇 제어기는 복잡성을 해결하기 위해 4개 소 그룹으로 모듈화 하고, 이 모듈들은 신경망을 이용한 계층적 모듈라 신경망 (Hierarchical Mixture of Experts; HME) 기법을 도입한다. 그리고 신경망은 직접제어기법으로 이족로봇의 역 동력학을 학습한다. HME는 나무구조의 네트워크로 입출력 집합을 학습하여 출력공간에 대한 입력공간을 재분할하는 능력을 가지고 있다. EM 알고리즘을 이용한 HME는 반복적 학습을 통하여 이족로봇의 동력학을 모델링하며 HME 의 가상오차를 생성하여 이족로봇보행시 안전한 보행을 수행할 수 있는 이족로봇의 제어기를 설계한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.197-202
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• 2003

This paper describes realtime walking based on sensory information. In this study, a biped robot having a trunk is considered. The motion of the trunk balances the whole body of the biped robot while the legs locomotes on the ground. How to calculate the motion of the trunk is proposed using the ZMP concept. Also, an online walking pattern is discussed which is generated in realtime on the basis of walking parameters selected by visual and auditory sensors. In order to realize biped walking, we have constructed a forty-three degrees of freedom biped robot, WABIAN-RV (WAseda BIped humANoid robot-Revised V). Its height is 1.89[m] and its total weight is 131.4[kg]. Various walking experiments using WABIAN-RV are conducted on the plane, and the validity of its mechanism and control is verified.

• 사물인터넷융복합논문지
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• 제4권2호
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• pp.7-11
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• 2018

본 논문에서는 기구학을 이용한 이족보행 로봇의 보행패턴 생성방법을 살펴본다. 2족 보행로봇이 3차원 공간상에서 모든 동작 및 보행이 가능하기 위해 필요한 자유도는 각 다리별로 6자유도이다. 따라서 본 논문에서는 로봇의 보행을 위해 간략화된 보행로봇의 구조를 살펴보고 발목의 경로를 설정한 후 기구학을 이용하여 조인트 각도를 파악하여 생성한다. 또한 로봇의 기구 해석을 위해 한쪽 다리의 조인트들에 대해 좌표계를 설정하였다. 조인트 각도를 역기구학을 이용하면 로봇의 보행 패턴을 생성할 수 있다. 최종적으로 발목의 궤적 설정과 이를 통한 보행 패턴 생성 과정을 살펴보기로 한다.

• 전기학회논문지
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• 제64권1호
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• pp.136-142
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• 2015

In the paper, a design method of knee and pelvis joint in the biped robot is proposed for shock absorption and gravity compensation. Similarly to the human's body, the knee joints of the biped robot support most body weight and get a shock from the landing motion of the foot on the floor. The torque of joint motor is also increased sharply to keep the balance of the robot. Knee and pelvis joints with the spring are designed to compensate the gravity force and reduce the contact shock of the robot. To verify the efficiency of the proposed design method, we develope a biped robot with the joint mechanism using springs. At first, we experiment with the developed robot on the static motions such as the bent-knee posture both without load and with load on the flat ground, and the balance posture on the incline plane. The current of knee joint is measured to analyze the impact force and energy consumption of the joint motors. Also, we observe the motor current of knee and pelvis joints for the walking motion of the biped robot. The current responses of joint motors show that the proposed method has an effect on shock reduction and gravity compensation, and improve the energy efficiency of walking motions for the biped robot.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.39-41
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• 2016

In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.

• 제어로봇시스템학회논문지
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• 제8권10호
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• pp.890-897
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• 2002

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.1022-1030
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• 1999

This paper is concerned with the balancing motion formulation and the control of ZMP (zero moment point) for a biped walking robot with balancing joints. The balancing equation of a biped robot can be modeled as the second order non-homogeneous differential equation, which makes it possible to plan the desired trajectories for various gaits or motions. Also, the balancing motion can be defined easily by solving the differential equation without pre-processing or heuristic procedures. The actual experiments are performed on biped walking robot system IWR-III, developed in our Automatic Control Lab. The system has the structure of three pitches in each leg, and one roll and one prismatic type in balancing joints. The walking simulations and the experimental results on IWR-III are shown using the proposed formula and control algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2405-2407
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• 2003

This study deals with the gait optimization of via points on biped robot. ZMP(Zero Moment Point) is most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, legs's trajectory and a desired ZMP trajectory is required, balancing weight's movement is solved by FDM(Finite Difference Method). In this study, optimal index is defined to dynamically static walking of a biped robot, and optimization of via points is applied by GA(Genetic Algorithm).

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.484-491
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• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.