• Title/Summary/Keyword: balancing joints

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Control of a Biped Walking Robot using ZMP Formulation (균형점 정형화를 이용한 이족보행로봇 제어)

  • Lim, Sun-Ho;Kim, Jin-Geol
    • 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.

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A study on the generation of balancing trajectory for biped robot using genetic algorithm (유전 알고리즘을 이용한 이족보행로봇의 균형 궤적 생성에 관한 연구)

  • Kim, Jong-Tae;Kim, Jin-Geol
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.8
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    • pp.969-976
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    • 1999
  • This paper is concerned with the generation of a balancing trajectory for improving the walking performance. The balancing motion has been determined by solving a second -order differential equation. However, this method caused some difficulties in linearizing and approximating the equation and had restrictions on using various balancing trajectories. The proposed difficulties in linearizing and approximating the equation and had restrictions on using various balancing trajectories. The proposed method i this paper is based on the genetic algorithm for minimizing the motins of balancing joints, whose trajectories are generated by the fifth-order polynomial interpolation after planning leg trajectories. The real walking experiments are made on the biped robot IWR-III, developed by our Automatic Control Laboratory. The system has 8 degrees of freedom and the structure of three pitches in each leg, and one roll and one prismatic joint in the balancing joints. The experimental result shows the validity and applicability of the new proposed algorithm.

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Stable Walking for an Inverted Pendulum Type Biped Robot (도립 진자형 이족보행로봇을 위한 안정보행)

  • Kang, Chan-Su;Noh, Kyung-Kon;Kim, Jin-Geol
    • Proceedings of the KIEE Conference
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    • 2003.11c
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    • pp.456-459
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    • 2003
  • This paper deal with the biped walking stability by inverted pendulum type balancing joints. This model is hard to interpretation for the nonlinearity caused by upper direction movement then conventional model which have roll and prismatic joints. We can interpret this model by a linear approximation or interpolation method. This paper use a linear approximation method that can decide a movement of upper direction. Inverted pendulum type balancing joints have a advantage of less movement for keep stability and similar with human than conventional model and this model can be used for humanoid robot. We can see a stability of biped by ZMP(Zero Moment Point). Genetic algorithm is used for trajectory planning that is important for stable walking of biped.

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A Study of Stable Walking Analysis for Humanoid Robot (휴머노이드 로봇의 안정 보행 동작 해석에 관한 연구)

  • Sung, Yu-Kyoung;Kong, Jung-Shik;Lee, Bo-Hee;Kim, Jin-Geol;Huh, Uk-Youl
    • Proceedings of the KIEE Conference
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    • 2003.11c
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    • pp.404-407
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    • 2003
  • In this paper, we have designed the humanoid robot's leg parts with 12 D.O.F. This robot uses ankle's joints to confirm stability of walking performance. It is less movable to use ankle's joints than to do upper body's balancing joints like IWR-III, which needs three parts of via points, support leg, swing leg and balancing joints. Instead, the proposed humanoid robot needs support leg and swing leg via points. ZMP(Zero Moment Point) is utilized to guarantee the stability of robot's walking. The humanoid robot uses the ankle's joints to compensate for IWR-III's balancing joints movement. Actually we concern about a motor performance when making a real humanoid robot. So a simulator is employed to know each joint torque of humanoid robot. This simulator needs D-H(Denavit-Hartenberg) parameters, robot's mass property and two parts of via points. The simulation results are robot's walking trajectories and each motor torque. Using the walking trajectories, we can see the robot's walking scene with 3D simulator. Before we develop the humanoid robot, simulation of the humanoid robot's walking performance is very helpful. And the torque data will be used to make humanoid's joint module.

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A Smooth Trajectory Generation for an Inverted Pendulum Type Biped Robot (도립진자형 이족보행로봇의 유연한 궤적 생성)

  • Noh Kyung-Kon;Kong Jung-Shik;Kim Jin-Geol;Kang Chan-Soo
    • Journal of the Korean Society for Precision Engineering
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    • v.22 no.7 s.172
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    • pp.112-121
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    • 2005
  • This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.

Energy Optimization for The Walking of Biped Robot (이족보행로봇의 보행을 위한 에너지 최적화)

  • Kim, Jong-Tae;Choi, Sang-Ho;Lim, Sun-Ho;Kim, Jin-Geol
    • Proceedings of the KIEE Conference
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    • 1998.07g
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    • pp.2339-2341
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    • 1998
  • This paper is concerned with an energy optimization for the walking of IWR biped robot. The movement of balancing joints are determined by ZMP(Zero Moment Point) and dynamic properties caused by motion of a swing leg. Therefore, ZMP positions have an important role in walking and guarnateeing the stability of a robot. A genetic algorithm is utilized for solving this problem and finding ZMP with a minimum energy at each sampling time during the walk. In this study, we performed an energy optimization with desired ZMP trajectories and motion of balancing joints.

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Kinematic Modeling and Inverse Dynamic Analysis of the IWR Biped Walking Robot (이족보행로봇 IWR의 기구학적 모델링과 역동역학 해석)

  • 김진석;박인규;김진걸
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2000.05a
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    • pp.561-565
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    • 2000
  • This paper deals with dynamic walking and inverse dynamic analysis of the IWR biped walking robot. The system has nine bodies of the multibody dynamics. and all of the .joints of them are made up of the revolute joints at first. The problem of redundant constraint in double support phase is solved by changing the type of the joints considering kinematic relation. To make sure of its dynamic walking, the movement of balancing weight is determined by which satisfies not only the condition of ZMP by applying the principle of D'Alembert but also the contact condition of the ground. The modeling of IWR and dynamic walking are realized using DADS.

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Development of Human-Sized Biped Robot (인체형 이족 보행로봇의 개발)

  • 최형식;박용헌;이호식;김영식
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2000.11a
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    • pp.15-18
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    • 2000
  • We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR performed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

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Development of Human-Sized Biped Robot of improvement in model (이족 보행로봇 개선모델의 개발)

  • 최형식;박용헌;정경식
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1997.10a
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    • pp.458-461
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    • 1997
  • We have developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gar ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. For the purpose of autonomous walking and higher performance, we improved the previous developed BWR. We improved the motor drive efficiency, designed the ball screw actuator in a modular type, and simplified the electric wires. Through this modification, we achieved better performance in walking.

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Development of a Human-Sized Biped Walking Robot (인체형 이족보행로봇의 개발)

  • 최형식;박용헌;김영식
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.6
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    • pp.484-491
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    • 2002
  • We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.