• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.39-41
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• 2016

In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.2-134
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• 2001

This paper treats the implementation of a statically stable control system for a biped walking robot with 10 degrees-of-freedom. Statically stable walking of a biped robot can be realized by keeping the center of mass (COM) inside the sole of the supporting foot (or feet) during single-support or double-support phases. We predetermined five static positions for walking based on the COM method. The positions can be represented by the length of the gait, the width between the feet, the height of the foot and two parameters in the hip movement. With the five parameters, we calculated the position trajectory. And we got the angular trajectories of 10 joints from the posit ion trajectory using the position tracking control and neural network. By tracking the angular trajectories, the robot can walk maintaining stability. We implemented walking of a biped robot throught the above ...

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.8
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• pp.1022-1030
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• 1999

This paper is concerned with the balancing motion formulation and the control of ZMP (zero moment point) for a biped walking robot with balancing joints. The balancing equation of a biped robot can be modeled as the second order non-homogeneous differential equation, which makes it possible to plan the desired trajectories for various gaits or motions. Also, the balancing motion can be defined easily by solving the differential equation without pre-processing or heuristic procedures. The actual experiments are performed on biped walking robot system IWR-III, developed in our Automatic Control Lab. The system has the structure of three pitches in each leg, and one roll and one prismatic type in balancing joints. The walking simulations and the experimental results on IWR-III are shown using the proposed formula and control algorithm.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.424-428
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• 2016

This paper presents the kinematics of a walking robot leg based on Jansen mechanism. By using simple mathematics, all trajectories of walking robot leg links can be calculated. A foot point trajectory is used to evaluate the performance of a walking robot leg. Trial and Error method is used to find a best combination of link lengths under certain restrictions. All simulations are performed by Matlab. Ground score, drag score, step size, foot lift, instant speed, and average speed of foot point trajectories are used for selecting the best one.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.959-966
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• 2009

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.420-426
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• 2001

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.197-202
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• 2003

This paper describes realtime walking based on sensory information. In this study, a biped robot having a trunk is considered. The motion of the trunk balances the whole body of the biped robot while the legs locomotes on the ground. How to calculate the motion of the trunk is proposed using the ZMP concept. Also, an online walking pattern is discussed which is generated in realtime on the basis of walking parameters selected by visual and auditory sensors. In order to realize biped walking, we have constructed a forty-three degrees of freedom biped robot, WABIAN-RV (WAseda BIped humANoid robot-Revised V). Its height is 1.89[m] and its total weight is 131.4[kg]. Various walking experiments using WABIAN-RV are conducted on the plane, and the validity of its mechanism and control is verified.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.83-91
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• 2000

During static walking of a quadruped walking robot, stability of the robot depends on whether the projection of the mass center is located within the supporting area that is varying with leg motion and formed by standing legs. In this paper, force margin instead of the mass center was used to determine stability and body-tilting method was used to enhance it. On-line control of body tilting was realized with simple reaction feedback based on force margin of the static walking model of the robot instead of complicated calculation. Model reference on-line control where the model searches stable pose for predefined force margin also gave good walking performance.

• Journal of Electrical Engineering and Technology
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• v.10 no.5
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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.