• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.277-278
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.37-38
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• 2010

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.323-324
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• 2007

For the efficient and accurate development of a biped humanoid robot, systematic humanoid development platform is a necessary component in building the development environment. The simulator is a significant tool to develop a biped humanoid robot. In this paper, we first present a method for constructing a humanoid simulator that can be easily applied to an actual humanoid. Easy transplantation into an actual humanoid increases the efficiency of simulator and the development speed. Systematic structure, closely modeling and prediction of an actual humanoid is a significant part of the simulator to set a goal. Using the simulator, we can predict the motion of an actual humanoid. The functions and the effectiveness of the developed simulator were evaluated through simulated motions and walks.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.84-92
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• 2006

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.339-346
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• 2022

To operate in real environment, humanoid robots should be able to react to unknown disturbances. To deal with disturbances, various robust control algorithms have been developed for decades. But for collaborative works such as teleoperation system, a compliance control can be the better solution for disturbance reactions. In this paper, a center of mass (CoM) compliance control algorithm for humanoid robots is proposed. The proposed algorithm is based on the state observer and positive feedback of disturbance. With the state observer based on humanoid CoM control performance model, disturbance in each direction can be observed. The positive feedback of disturbances to the reference CoM trajectory enables compliant motion. The main contributions of this algorithm are achieving compliance independently in each axis and maintaining balance against external force. Through dynamic simulations, the performance of the proposed method was demonstrated. Under two types of disturbance conditions, humanoid robot DYROS-JET reacted with compliant motion via the proposed algorithm.

• 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.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.616-617
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• 2013

This paper introduces a new method that controls a humanoid robot detecting a human motion using a Kinect sensor. Processing the output of a depth seneor of the Kinect sensor, we build a human stick model which represents each joint of human body. We detect a specific motion by calculating the distance and angle between joints. We send the control message to the robot using Bluetooth wireless communication.

• Journal of Electrical Engineering and Technology
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• v.9 no.1
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• pp.344-351
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• 2014

In order to accomplish complex navigational commands, humanoid robot should be able to modify its walking period, step length and direction independently. In this paper, a novel walking pattern generation algorithm is proposed to satisfy these requirements. Modification of the walking pattern can be considered as a transition between two periodic walking patterns, which follows each navigational command. By assuming the robot as a linear inverted pendulum, the equations of motion between ZMP(Zero Moment Point) and CM(Center of Mass) state is easily derived and analyzed. After navigational command is translated into the desired CM state, corresponding CM motion is generated to achieve the desired state by using simple ZMP functions. Moreover, when the command is not feasible, feasible command is alternated by using binary search algorithm. Subsequently, corresponding CM motion is generated. The effectiveness of the proposed algorithm is verified by computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.952-958
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• 2009

This article presents a combined structure of serial and parallel mechanisms for a humanoid robot. The 3 DOF parallel structure is designed and added to the waist of the humanoid robot arm to give flexible bending and rotating motions. Forward and inverse kinematics of a serial and parallel robot have been analyzed to generate motions. Simulation studies of verifying kinematics solutions of the parallel robot have been done. Experimental studies of mimicking shake-hands motion have been conducted to show the feasibility and usability of the combined structure.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.108-114
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• 2009

In this paper, we presents a behavior planning for humanoid robots using behavior primitive in 3 dimensional workspace. Also, we define behavior primitives that humanoid robot accomplishes various tasks effectively. Humanoid robot obtains information of the outside environment and its inner information from various sensors in complex workspace with various obstacles. We verify our approach on a developed small humanoid robot using embedded vision and sensor system in a experimental environment. The experimental results show that the humanoid robot performs its tasks fast and effectively.