• 한국지능시스템학회논문지
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• 제26권5호
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• pp.390-395
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• 2016

본 논문에서는 인간의 스프린트 경기와 휴머노이드 로봇의 스프린트 경기를 비교하고 FIRA가 주관한 휴머노이드 로봇의 대표적인 스포츠 경기인 HuroCup에 대해서 소개한다. 또한 이 대회의 경기 규정을 알아보고 휴머노이드 로봇이 스프린트 경기를 수행하는데 사용할 수 있는 경기 전략을 제시한다. 본 논문을 위해 스프린트 경기 규정에 맞는 휴머노이드 로봇을 설계 및 개발하고, 제작한 휴머노이드 로봇에 스프린트 경기 전략 알고리즘을 적용하여 로봇의 성능을 시험한다. 마지막으로, 실제 경기 사례를 통해 제작된 휴머노이드 로봇이 스프린트 경기에 적합하게 수행함을 검증한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1764-1768
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• 2004

In the near future, robots will be used for the personal use. To provide useful services to humans, it will be necessary for robots to understand human intentions. Consequently, the development of emotional interfaces for robots is an important expansion of human-robot interactions. We designed and developed an intelligent emotional interface for the robot, and applied the interfaces to our humanoid robot, AMIET. Subsequent human-robot interaction demonstrated that our intelligent emotional interface is very intuitive and friendly

• Journal of Electrical Engineering and Technology
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• 제10권5호
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• pp.2142-2148
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• 2015

This paper proposes novel real-time footstep planning and following methods for the navigation of humanoid robots. A footstep command is defined by a walking direction and step lengths for footstep planning. The walking direction is determined by a uni-vector field navigation method, and the allowable yawing range caused by hardware limitation is considered. The lateral step length is determined to avoid collisions between the two legs while walking. The sagittal step length is modified by a binary search algorithm when collision occurs between the robot body and obstacles in a narrow space. If the robot body still collides with obstacles despite the modification of the sagittal step length, the lateral step length is shifted at the next footstep. For footstep following, a walking pattern generator based on a 3-D linear inverted pendulum model is utilized, which can generate modifiable walking patterns using the zero-moment point variation scheme. Therefore, it enables a humanoid robot to follow the footstep command planned for each footstep. The effectiveness of the proposed method is verified through simulation and experiment.

• 한국생산제조학회지
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• 제24권4호
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• pp.441-447
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• 2015

This paper proposes a novel fuzzy-based multi-criteria decision making method and implements a footstep planner for humanoid robots with it. Humanoid robots require additional footstep planning process in addition to path planning for the autonomous navigation. Moreover, it is necessary to consider safety and energy consumption as well as path efficiency and multi-criteria decision making is indispensable. The proposed method can provide not only well- distributed and non-dominated, but also more preferable solutions for users. The planned footsteps by the proposed method were verified through simulation. The results indicate that the user's preference is properly reflected in optimized solutions maintaining solution quality.

• 로봇학회논문지
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• 제17권3호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 심포지엄 논문집 정보 및 제어부문
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• pp.240-241
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• 2008

We are presenting the efficient and robust simplified module based self-collision detection of humanoid robot simulator. For safe and reliable operations of humanoid robot, the self-collision detection is essential and extremely important. The main methods of self-collision detection are inverse X-Y-Z fixed angles and module distance filtering (MDF). According to experiments on the humanoid robot simulator with the self-collision detection, we could have a confidence about the efficiency of the self-collision.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.963-968
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• 2010

This paper handles ZMP based control that is inspired by neural networks for humanoid robot walking on varying sloped surfaces. Humanoid robots are currently one of the most exciting research topics in the field of robotics, and maintaining stability while they are standing, walking or moving is a key concern. To ensure a steady and smooth walking gait of such robots, a feedforward type of neural network architecture, trained by the back propagation algorithm is employed. The inputs and outputs of the neural network architecture are the ZMPx and ZMPy errors of the robot, and the x, y positions of the robot, respectively. The neural network developed allows the controller to generate the desired balance of the robot positions, resulting in a steady gait for the robot as it moves around on a flat floor, and when it is descending slope. In this paper, experiments of humanoid robot walking are carried out, in which the actual position data from a prototype robot are measured in real time situations, and fed into a neural network inspired controller designed for stable bipedal walking.

• 조명전기설비학회논문지
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• 제22권7호
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• pp.1-6
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• 2008

In industrial fields, human works are being replaced by robots. However, as the use of robots is limited in the process industry where they are operated fixedly, humanoid robots with wide applications need to be developed. Currently a great deal of research is being conducted on humanoid robots with the object of replacing humans in the workplace. However, because of the lack of relevant hardware and difficulty in mechanical parts, only very simple and limited progress is being made. In an effort to overcome these limitations, the purpose of the present study is to develop a kinematical mechanism and a controller. To this end, master arms with 3 degrees-of-freedom for the shoulders and the arms were composed which were able to reproduce human-like motions by simulating the characteristics of joint variables and the trajectory of the end-effector.

• 한국지능시스템학회논문지
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• 제19권1호
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• pp.108-114
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• 2009

본 논문에서는 3차원 작업 환경에서 휴머노이드 로봇의 행동 프리미티브를 이용한 행동 계획 방법을 제안하였다. 또한 휴머노이드 로봇이 효과적으로 다양한 작업을 수행하기 위하여 행동 프리미티브를 정의하였다. 행동 프리미티브를 이용함으로써 다양한 장애물을 갖는 복잡한 작업 환경에서 로봇에 장착한 센서로 외부 환경 정보를 받아들이고 이를 이용하여 실시간 대응 및 작업이 가능하도록 하였다. 제안한 행동 계획방법은 임베디드 비전 시스템을 사용한 휴머노이드 로봇을 실제 제작하여 실험을 통해 성능을 검증하였다.

• ETRI Journal
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• 제40권4호
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• pp.446-457
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• 2018

Robot navigation allows robot mobility. Therefore, mobility is an area of robotics that has been actively investigated since robots were first developed. In recent years, interest in personal service robots for homes and public facilities has increased. As a result, robot navigation within the home environment, which is an indoor environment, is being actively investigated. However, the problem with conventional navigation algorithms is that they require a large computation time for their building mapping and path planning processes. This problem makes it difficult to cope with an environment that changes in real-time. Therefore, we propose a humanoid robot navigation algorithm consisting of an image processing and optimization algorithm. This algorithm realizes navigation with less computation time than conventional navigation algorithms using map building and path planning processes, and can cope with an environment that changes in real-time.