• 한국산업융합학회 논문집
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• 제17권4호
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• pp.245-254
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• 2014

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2721-2724
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• 2003

This paper deals with a manipulability analysis of multi-legged walking robots in acceleration domain, that is the dynamic manipulability analysis of walking robot. Noting that the kinematic structure of the walking robot is basically the same with that of the multiple serial robot system holding one object, the analysis method for cooperating robot is converted to that of walking robot. With the proposed method, the bound of achievable acceleration of the moving body is easily derived from the given bounds on the capabilities of Joint torques. Several walking robot examples are analyzed with proposed method under the assumption of hard contact, and presented in the paper to validate the method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.78-81
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• 1997

In this study, we prepose the dynamic gait in consideration of emerge efficiency. The proposed dynamic gait is applied to the quadruped walking robot and experiments are performed for real robot. We proposed the dynamic gait is diagonal gait which is modified the trot gait in consideration of energy efficiency. The proposed gait is composed of two steps. In one step, the robot walks in the trot gait. In the other step, the robot walks with making the center of gravity lie on the two legs supporting line. Realization of the diagonal intermittent trot gait is performed by open loop contal and motion planning of the proposed gait. The validity of the purposed gait is confirmed by our experiment.

• 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.

• 대한기계학회논문집A
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• 제22권4호
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• pp.768-778
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• 1998

Human beings usually absorb a shock from terrain during walking through the damping effects of joints, muscles and skin. With this analogy, a robot-leg with a shock absorber is built to absorb the impact forces at its foot during high-speed walking on irregular terrain. To control the hip position while walking, the dynamic controller suitable for high speed walking is designed and implemented based on a dynamic model by Kane's equation. The hip position tracking performances of various controllers (PID controller, computed torque controller and feedforward torque controller) are compared through the experiments of the real robot-leg.

• 로봇학회논문지
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• 제4권1호
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• pp.17-24
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• 2009

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

• 한국공작기계학회논문집
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• 제16권6호
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• pp.217-222
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• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1464-1468
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• 2004

This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 춘계 학술발표회논문집
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• pp.267-274
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• 2003

The objective of this study is to estimate the frequency characteristics of group walking loads based on the information of measured responses. At first, dynamic properties such as natural frequencies and modes are obtained from input/output relation for building structures by heel drop test. Second, a method to estimate group walking loads by the transfer functions from measured responses to group walking loads is proposed. The method turned out to estimate the group walking loads accurately. Higher modes could be important in estimating the amplitude of group walking loads with the information of single walking load.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.