• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.17 no.2
• /
• pp.173-178
• /
• 2017

As research on the practical use of robots has continued since the past, advancements into each field of society are being continuously tried in modern society, breaking bounds from the previous experimental environment. However, in order for robots to be applied to the real environment, the production cost, which is considered to be the biggest disadvantage of commercializing the existing robot platform, and the adaptability issue in working environments in terms of human standards must be considered. This paper proposes a robot of biped walking form, which conforms to the degree of freedom and the size of human beings. By replacing the encoder with a combined module of potentiometer, the high cost of production is reduced, and by adopting a modular design that is easy to replace parts, the maintenance cost of robots is reduced. Finally, stability was verified by applying a walking pattern to two dummy robots of different sizes and motor arrangements. In this paper, after developing the real biped walking robots, the performance and usability were verified through walking experiments and applying the walking pattern using the developed robots.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.1
• /
• pp.24-28
• /
• 2013

In this paper, a procedure of design and development of a child-sized humanoid robot is described. The design concept for a humanoid robot was proposed and the mechanism of the humanoid robot which is more than 1 meter tall was designed by using 3D design tools. By considering the lightweight of the robot, the hardware for the robot was designed for optimal performance. The frames and links of the robot designed by 3D design tools was manufactured through precision machining with the material which is light and have a good strength. The manufactured child-sized humanoid robot was experimented with basic motions applied inverse kinematics and balance control, and the performance of the motions were verified.

• Proceedings of the KIEE Conference
• /
• 2004.07d
• /
• pp.2397-2399
• /
• 2004

This paper deals with the messages scheduling of a CAN (Controller Area Network), based on the distributed control scheme to integrate actuators and sensors in a humanoid robot. In order to supply the distributed processing for a humanoid robot, each control unit should have the efficient control method, fast calculation and valid data exchange. The preliminary study has concluded that the performance of CAN is better and easier to implement than other network such as FIP (Factory Instrumentation Protocol), VAN (Vehicle Area Network), etc. Since humanoid robot has to treat the significant control signals from many actuators and sensors, the communication time limitation could be critical according to the transmission speed and data length of CAN specification. In this paper, the CAN message scheduling in humanoid robot was suggested under the presence of Jitter in the message group, the existence of high load of messages over the network and the presence of transmission errors. In addition, the response time under the worst case is compared with the simulation by using the simulation algorithm. As a result, the suggested messages scheduling can guarantee our CAN limitation, and utilized to generate the walking patterns for the humanoid.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.4
• /
• pp.360-365
• /
• 2013

The paper introduces dynamic generation technique of foot trajectories using CPG(Central Pattern Generator). In this approach, the generated foot trajectories can be changeable according to variable outputs of CPG in various environments, because they are given as mapping functions of the output signals of the CPG oscillators. It enables to provide an adaptable foot trajectory for environmental change. To demonstrate the effectiveness of the proposed approach, experiments on humanoid robot Nao is executed in the Webot simulation. The performance and motion features of CPG based approach is analyzed.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.548-555
• /
• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Proceedings of the KIEE Conference
• /
• 2003.07d
• /
• pp.2411-2413
• /
• 2003

A new small humanoid robot system is developed in this paper. The humanoid robot has total 20 DOFs : 6 DOFs in each legs, 3 DOFs in each arms, and 2 DOFs in head, 34cms in height, and 2kgs in weight. The robot has the following characteristics: (1) PDA as host controller (2) network-based joint controller (3) wireless camera attached in robot's head (4) mechanism design by CATIA and high speed laser prototyping (5) graphic MMI(Man-Machine Interface) utilizing the CATIA data. By using ADXL inclination sensor, we implement the rope swing with the robot leg motion as well as walking.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.24 no.5
• /
• pp.548-552
• /
• 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
• /
• v.15 no.12
• /
• pp.1216-1222
• /
• 2009

This article describes a simple method for generating the walking trajectory for the biped humanoid robot. The method used a simple inverted model instead of complex multi-mass model and a reasonable explanation for the model simplification is included. The problem of gait trajectory generation is to find the solution from the desired ZMP trajectory to CoG trajectory. This article presents the analytic solution for the bipedal gait generation on the bases of ZMP trajectory. The presented ZMP trajectory has Fourier series form, which has finite or infinite summation of sine and cosine functions, and ZMP trajectory can be designed by calculating the coefficients. From the designed ZMP trajectory, this article focuses on how to find the CoG trajectory with analytical way from the simplified inverted pendulum model. Time segmentation based approach is adopted for generating the trajectories. The coefficients of the function should be designed to be continuous between the segments, and the solution is found by calculating the coefficients with this connectivity conditions. This article also has the proof and the condition of solution existence.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.16 no.4
• /
• pp.485-492
• /
• 2006

This paper deals with implementation of network for distributed control system of a humanoid robot ISHURO(Inha Semyung Humanoid Robot). A humanoid robot needs much degree of freedom structurally and much data for having flexible movement. To realize such a humanoid robot, distributed control method is preferred to the centralized one since it gives a compactness, modularity and flexibility for the controllers. For organizing distributed control system of a humanoid robot, a control processor on a board is needed to individually control the joint motor and communication technology between the processors is required to transmit its information within control time. The processor is DSP-based processor and includes CAN network on a chip. It shares the computational load such as monitoring the sensor information and controlling the actuator between each of modules. In this paper, the communication architecture is suggested and its message protocol are discussed including message structure, time consumption for transmission, and controller structure at the view of distributed control for a humanoid robot. All of the sequence are simulated with Matlab and then verified with real walking experiment by ISHURO.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.9
• /
• pp.133-144
• /
• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.