• 한국항행학회논문지
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• 제21권1호
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• pp.132-137
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• 2017

본 논문에서는 로봇의 구조나 보행 상황을 반영해 하나의 보행 패턴을 다른 보행 패턴으로 변환하게 해주는 영모멘트 점 (ZMP; zero moment point)와 질량 중심 (CoM; center of mass)의 실시간 변환 방법을 제안한다. 일반적으로 휴머노이드 로봇은 높이와 질량과 같은 자체적인 구조 특성을 가지고 있다. 이러한 구조적 특성으로 인해 인간 또는 휴머노이드 로봇으로부터 측정되거나 생성되어진 CoM / ZMP 보행 패턴을 다른 로봇에 직접 적용하는 것은 어렵다. 이를 위하여 간단한 휴머노이드 로봇 모델인 cart-table model을 사용해 보폭의 길이, 보행 시간, CoM 높이 변화에 따라 보행 패턴의 특성을 분석한다. 그러한 분석으로부터 변환 방정식을 유도하고 시뮬레이션을 통해 제안된 방법을 검증한다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• 로봇학회논문지
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• 제1권2호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2405-2407
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• 2003

This study deals with the gait optimization of via points on biped robot. ZMP(Zero Moment Point) is most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, legs's trajectory and a desired ZMP trajectory is required, balancing weight's movement is solved by FDM(Finite Difference Method). In this study, optimal index is defined to dynamically static walking of a biped robot, and optimization of via points is applied by GA(Genetic Algorithm).

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.138-140
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• 2004

This paper mainly deals with the dynamic walking of a biped robot. At first, in order to walk in various environments, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. A method to plan a walking pattern consisting of a foot trajectory and a hip trajectory is presented. The effectiveness of the proposed method is illustrated by simulation results. Secondly, the paper brings forward a balance control technique based on off-line walking pattern with real-time modification. At last, the concept of Zero Moment Point (ZMP) is used to evaluate dynamic stability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.220-224
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• 2003

This is a preliminary study is to make the robot walk more stably by observing the ZMP (Zero Moment Point) of the robot when the robot stands on one leg(single support) and then on two legs(double support) and so on. The robot consists of nine DOF (Degree of freedom) with lower part of the body. It is equipped with motor drivers and force sensors inside the robot. The motors are controlled by the external PC (Intel pentium 4). By the experimental results, it is found that the robot is unstable in the instant of changing from single support to double support or from double support to single support. We use the trajectory compensation of the angle and the length of both legs to realize more stable walking.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2438-2440
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• 2004

This study is concerned with development of 3-Dimensional simulator of a biped robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a biped robot which have a prismatic balancing weight is conditional linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. To get a stable gait of a biped robot, stabilization equations with ZMP (Zero Moment Point) are modeled as non-homogeneous second order differential equations for each balancing weight type. A trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3-Dimensional graphic simulator is programmed to get and calculate the desired ZMP and the actual ZMP. Walking of 4 steps was simulated and verified. This balancing system will be applied to a biped humanoid robot, which consist Begs and upper body, at future work.

• 한국정보과학회논문지:소프트웨어및응용
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• 제36권2호
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• pp.131-143
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• 2009

인간이 최소 에너지를 소비하면서 자연스럽고 안정된 상태로 보행한다는 것에 착안하여, 본 논문은 인간 보행의 COG 궤적을 분석함으로써 인간형 이족로봇의 자연스러운 보행에 관한 연구를 수행한다. 이를 위해서 본 논문은 ssgittal plane과 frontal plane상의 보행 영상으로부터 계측된 COG 궤적을 고려함으로써 안정적이고 에너지를 최소화하는 자연스러운 이족로봇의 보행 패턴을 생성한다. 인간과 이족 로봇은 기구학적인 형태는 유사하지만 자유도에 있어 많은 차이를 의이기 때문에 추출된 인간 관절의 회전력을 이족로봇에 바로 적응할 수 없다. 본 논문에서는 인간의 보행패턴으로부터 계측된 각 관절의 회전력과 인간의 COG 궤적으로부터 계산된 ZMP을 이용하는 적응적 보행 패턴 생성 GA 알고리즘을 통해 5-link 이족로봇 모델의 보행패턴을 생성한다. 제안된 알고리즘은 인간의 각 관절의 회전력과 ZMP 궤적을 고려하기 때문에 인간과 같이 유연하고 에너지 소비를 최소화하는 인간형 이족로봇의 보행패턴을 생성한다. 본 논문은 역기구학을 이용한 일반적인 방법과 제안하는 방법에 의해 생성된 보행 패턴을 각각 5-link 이족로봇 모델에 적용하여 시각적인 측면과 에너지 효율측면에서 평가함으로써 제안하는 알고리즘의 우수성을 입증하였다.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1780-1783
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• 2005

In this paper ZMP was considered in order to get a walking stability, so the gait in the stable domain was realized through putting the stability margin in the sole domain of a foot. It is assumed that the robot's legs have 12 joints to operate a open-loop drive and there was no external disturbance under walking phases, additionally, the robot is walking on the flat plane. It was observed that the robot's walking trajectory, locus of COM and ZMP after imposing the motion to each joint. For realizing the simulation considering ZMP and movement of mass center, it was checked if it is stable for the constraint robot model to walk in stability and the feasibility was estimated about its dynamic gait. Eventually it was shown that a constraint gait algorithm is able to realize. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.