• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.136-141
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• 2002

This paper presents a design and a control of a biped walking RGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new AGO type with servo motors. The gait of a biped walking RGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking RGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking AGO-robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.238-243
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• 2002

This paper presents a design and a control of a biped walking AGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new RGO type with servo motors. The gait of a biped walking AGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking AGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking RGO-robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2492-2497
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• 2003

This paper presents optimal walking trajectory generation for a quadruped robot with genetic-fuzzy algorithm. In order to move a quadruped robot smoothly, both generations of optimal leg trajectory and free walking are required. Generally, making free walking is difficult to realize for a quadruped robot, because the patterned trajectory may interfere in the free walking. In this paper, we suggest the generation method for the leg trajectory satisfied with free walking pattern so as to avoid obstacle and walk smoothly. We generate via points of leg with respect to body motion, and then we use the genetic-fuzzy algorithm to search for the optimal via velocity and acceleration information of legs. All these methods are verified with PC simulation program, and implemented to SERO-V robot.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1026-1032
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• 2003

A biped walking robot which is developed as a platform for researching walking algorithm is briefly introduced. The developed walking robot has 6 degrees of freedom per one leg. The origins of the last three axis do not intersect at a point, so the kinematic analysis is cubmersome with the conventional method. In the former version of the robot, Jacobian-based inverse kinematics method is used. However, the Jacobian-based inverse kinematics method has drawbacks for the application in which knee is fully extended such as stair-case walking. The reason far that is the Jacobian becomes ill-conditioned near the singular points and the method is not able to give adequate solutions. So, a method for giving a closed-form inverse kinematics solution is proposed. The proposed method is based on careful consideration of the kinematic structure of the biped walking robot.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2721-2724
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• 2003

This paper deals with a manipulability analysis of multi-legged walking robots in acceleration domain, that is the dynamic manipulability analysis of walking robot. Noting that the kinematic structure of the walking robot is basically the same with that of the multiple serial robot system holding one object, the analysis method for cooperating robot is converted to that of walking robot. With the proposed method, the bound of achievable acceleration of the moving body is easily derived from the given bounds on the capabilities of Joint torques. Several walking robot examples are analyzed with proposed method under the assumption of hard contact, and presented in the paper to validate the method.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2350-2355
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• 2005

In this paper, we introduce biped walking robot which can static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and 22 RC servo motors are used to actuate. Before made an active algorithm, we generated the motions of robot with the motion simulator which developed using by C language. The two dimension simulator is Based on the inverse kinematics and D-H transform. The simulator implements various motions as inputted the ankle's trajectory. Also we developed a simulator which is applied the principle of inverted pendulum to acquires the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle and pelvis when the robot lifts up its one side leg during the working. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which connected with laptop computer by serial cable.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.5 s.176
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• pp.1155-1165
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• 2000

Due to the irregularity of walking ground and the inaccuracy in trajectory control of a leg, the mechanical shock and slip on the ground can be caused in the landing and supporting legs of a walkin g robot, and the robot may lose walking stability. Especially in a jointed-leg type walking robot, those problems are much more severe than in the pantograph type since the leg-weight of the jointed-leg type walking robot is relatively heavier than that of the pantograph type in general. In order to secure the walking stability for the jointed-leg type quadrupedal robot under development in KIST(Korea Institute of Science and Technology), a balancing algorithm consisting of the leg compliance control and the body posture control is implemented in this paper, and the effectiveness of the algorithm is verified through experiments.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.197-202
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• 2006

We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.