• 제목/요약/키워드: Six-legged robot

검색결과 10건 처리시간 0.033초

견마형 로봇의 계단형 장애물 극복 알고리즘 개발 (Step-Type Obstacle Traversal Algorithm for Six Legged Mobile Robot)

  • 심형원;이지홍;김중배
    • 로봇학회논문지
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    • 제2권1호
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    • pp.55-63
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    • 2007
  • Mobile robots traveling on rough terrain need several algorithms to overcome obstacles. In this paper, we propose the step-type obstacle traversal algorithm to adapt the mobile robot with six arms and wheels to travel on rough terrain. Obstacle traversal is composed of two different stages: planning and control. In planning stage, the required joint torque of each arm as well as the interference between the wheels and the arms are analyzed to guarantee traversing obstacles. Control stage includes such steps as checking distance to obstacle, determining the height and length of obstacle, performing arm motion according to sensed torque data, and evaluating safety at every instance. The proposed algorithm is designed and implemented for CALEB 1 six legged robot developed in the laboratory and verified by simulation and experiment in outdoor environment.

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소형 6족 주행 로봇의 페이로드와 다리 강성이 로봇의 주행 성능에 미치는 영향 (Effect of Leg Stiffness on the Running Performance of Milli-Scale Six-Leg Crawling Robot with Payload)

  • 채수환;백상민;이종은;임소정;유재관;조용진;조규진
    • 로봇학회논문지
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    • 제14권4호
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    • pp.270-277
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    • 2019
  • Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.

Force Distribution of a Six-Legged Walking Robot with High Constant Speed

  • Jung, Kwang-Suk;Baek, Yoon-Su
    • Journal of Mechanical Science and Technology
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    • 제14권2호
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    • pp.131-140
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    • 2000
  • For a walking robot with high constant body speed, the dynamic effects of the legs on the transfer phase are dominant compared with other factors. This paper presents a new force distribution algorithm to maximize walkable terrain without slipping considering the dynamic effects of the legs on the transfer phase. Maximizing the walkable terrain means having the capability of walking on more slippery ground under the same constraint, namely constant body speed. A simple force distribution algorithm applied to the proposed walking model with a pantograph leg shows an improvement in the capability of preventing foot-slippage compared with one using a pseudo-inverse method.

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심층 강화학습을 이용한 휠-다리 로봇의 3차원 장애물극복 고속 모션 계획 방법 (Fast Motion Planning of Wheel-legged Robot for Crossing 3D Obstacles using Deep Reinforcement Learning)

  • 정순규;원문철
    • 로봇학회논문지
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    • 제18권2호
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    • pp.143-154
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    • 2023
  • In this study, a fast motion planning method for the swing motion of a 6x6 wheel-legged robot to traverse large obstacles and gaps is proposed. The motion planning method presented in the previous paper, which was based on trajectory optimization, took up to tens of seconds and was limited to two-dimensional, structured vertical obstacles and trenches. A deep neural network based on one-dimensional Convolutional Neural Network (CNN) is introduced to generate keyframes, which are then used to represent smooth reference commands for the six leg angles along the robot's path. The network is initially trained using the behavioral cloning method with a dataset gathered from previous simulation results of the trajectory optimization. Its performance is then improved through reinforcement learning, using a one-step REINFORCE algorithm. The trained model has increased the speed of motion planning by up to 820 times and improved the success rates of obstacle crossing under harsh conditions, such as low friction and high roughness.

3개의 모터로 구동되는 극한작업용 이동로보트의 개발 (The development of mobile robot for hostile environment controlled by three motors)

  • 권대갑;차영엽;염도성
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.704-709
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    • 1990
  • This study presents the structure and the gate control algorithm of KAMOBOT (KAIST Mobile Robot). The mobile robot has a six-legged, cylindrical configuration, each leg of which is equiped with a wheel at the bottom. The robot can go up and down stairs, go over obstacles, move along curvilinear paths and rotate around it's geometric center. Such maneuverability can be achieved by using only three electric motors.

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손모양 인식기반의 경로교사와 장애물 인식이 가능한 자율보행 다족로봇 시스템 (Multi-legged robot system enabled to decide route and recognize obstacle based on hand posture recognition)

  • 김민성;정우원;권배근;강동중
    • 한국정보통신학회논문지
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    • 제14권8호
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    • pp.1925-1936
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    • 2010
  • 영상카메라와 무선통신 기능을 탑재한 손모양 및 장애물 인식이 가능한 다족 로봇을 독자적으로 설계 및 제작하고 제작한 로봇에 최적화된 보행패턴 알고리즘을 개발하여 적용하였다. 영상센서의 입력화상에 대해 하프변환 (Hough Transform)을 사용하여 물체의 외곽선을 추출하여 장애물을 인식하여 회피하는 실시간 자율보행이 가능한 알고리즘을 개발하였다. 로봇의 목표물 및 목적지 설정을 위하여 미리 학습시킨 피부색의 평균값과 입력영상의 확률거리(Mahalanobis Distance)를 산출하여 손 영역을 검출하고 손가락 개수에 따라 로봇의 명령 제어가 가능하도록 하였다. 장애물 및 손모양 인식에 따른 다족 자율 보행 로봇의 수행 실험 평균 결과 약 96%의 장애물 인식률과 94%의 손 모양 인식률을 보였다.

4족과 6족 보행을 하는 수면 주행 로봇의 안정성 실험 연구 (Experimental Study on Rolling Stability of Quadruped and Hexapedal Water Running Robots)

  • 김현규;김정현;서병훈;서태원
    • 한국정밀공학회지
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    • 제30권10호
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    • pp.1023-1029
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    • 2013
  • Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

심해용 크랩스터 CR6000 시스템의 실해역 시험 결과 (The sea Trial of Deep-sea Crabster CR6000 System)

  • 전봉환;유승열;이판묵;박진영;심형원;백혁
    • 대한임베디드공학회논문지
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    • 제12권5호
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    • pp.331-341
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    • 2017
  • This paper presents the sea-trial results of Crabster CR6000 which is a deep-sea walking robot developed by KRISO in 2016. Crabster CR6000 is designed to inspect deep-sea environment rejecting the disturbance on the silent and calm abyssal area. The sea-trial was conducted at the East Sea and the Philippine Sea on December 2016. The Crabster CR6000 undocked successfully from the Shuttle after touchdown on the sea-bed and walked out on the soft sediment soil of the 4,743m seafloor at the fourth diving in the Philippine Sea. The advanced technologies and capabilities of CR6000 were verified from the operational and functional test conducted in the sea-trial. The experimental data acquired from the sea-trial were summarized and the first experience of the deep-sea walking robot was presented in this paper.

다관절 복합이동 해저로봇을 위한 탄소섬유 복합소재 프레임의 구조 해석 (Finite Element Analysis of Carbon Fiber Reinforced Plastic Frame for Multi-legged Subsea Robot)

  • 유승열;전봉환;심형원;이판묵
    • 한국해양공학회지
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    • 제27권6호
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    • pp.65-72
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    • 2013
  • This paper describes a finite element analysis (FEA) of the body frame of a subsea robot, Crabster200 (CR200). CR200 has six legs for mobility instead of screw type propellers, which distinguishes it from previous underwater robots such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). Another distinguishing characteristic is the body frame, which is made of carbon fiber reinforced plastic (CFRP). This body frame is designed as a rib cage structure in order to disperse the applied external loads and reduce the weight. The frame should be strong enough to support many devices for exploration and operation underwater. For a reasonable FEA, we carried out specimen tests. Using the obtained material properties, we performed a modal analysis and FEA for CR200 with a ready posture. Finally, this paper presents the FEA results for the CFRP body frame and the compares the characteristics of CFRP with conventional material, aluminum.

On Enhancing of Inner Loop Regulators for Remote Control in Robotic Systems

  • Masaki, Sano;Jung, Si
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2001년도 ICCAS
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    • pp.24.1-24
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    • 2001
  • This paper present the idea that the inner loop regulator inside the servo can be enhanced its performance by replace the conventional control with a fuzzy proportional derivative control. In this paper, we replace an inner loop regulator of a Futaba servomotor with a fuzzy PD control paradigm. We then test the proposed system and compare the result with the original scheme. The fuzzy control used here is based on the supervisory scheme of the conventional PD yet embedded a fuzzy decision for the final control action. The proposed control scheme for the servomotor has shown robustness and effective performance in handle input disturbance along with its tracking ability. Moreover, when we embedded the new implemented on a real six-legged insect robot designed by the authors, we found that the control system for this application under the ...

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