• ETRI Journal
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• v.31 no.5
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• pp.565-575
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• 2009

This paper concerns the use of support vector regression (SVR), which is based on the kernel method for learning from examples, in identification of walking robots. To handle complex dynamics in humanoid robot and realize stable walking, this paper develops and implements two types of reference natural motions for a humanoid, namely, walking trajectories on a flat floor and on an ascending slope. Next, SVR is applied to model stable walking motions by considering these actual motions. Three kinds of kernels, namely, linear, polynomial, and radial basis function (RBF), are considered, and the results from these kernels are compared and evaluated. The results show that the SVR approach works well, and SVR with the RBF kernel function provides the best performance. Plus, it can be effectively applied to model and control a practical biped walking robot.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.933-938
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• 2007

These days, up-to-date humanoid robots are continuously developed. Among them, Qrio, Asimo[1,2] are famous for its unique walking technology and natural movement. These robots could show manufacturers' technological improvement and leave a good impression to the customer. In accordance with global trends, Samsung is also producing humanoid robot. The humanoid robot, however, could walk like a human compared to the industrial robot fixed in the factory. This feature could cause another dynamic effect while walking. In this paper, the robot's feet were examined to find out parameters that affect stability of the humanoid robot's feet. With the sensitivity analysis, the optimization procedure in design of experiments finds the most suitable performance of robot. Maximum deflection of the frame upon various cases was minimized, and rubber coefficients for shock absorption were optimized.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.5
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• pp.683-689
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• 2014

The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.73-80
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• 2008

Many researchers are studying on humanoid robots in all over the world. However the humanoid robots are still limited in doing works like picking up objects on the ground or moving rapidly. In this study, a humanoid robot based on the wheel-driving was developed. It can operate with a human working area keeping the stability. Also, the developed robot can take up the object on the floor since it has knee(1DoF) and waist(3DoF), and do service quickly and steadily. The hardware and software structure and algorithms of the developed robot, SEROPI are introduced in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.315-319
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• 2006

Support vector machines in biped humanoid robot are presented in this paper. The trajectory of the ZMP in biped walking robot poses an important criterion for the balance of the walking robots but complex dynamics involved make robot control difficult. We are establishing empirical relationships based on the dynamic stability of motion using SVMs. SVMs and kernel method have become very popular method for learning from examples. We applied SVM to model the practical humanoid robot. Three kinds of kernels are employed also and each result has been compared. As a result, SVM based on kernel method have been found to work well. Especially SVM with RBF kernel function provides the best results. The simulation results show that the generated ZMP from the SVM can be improve the stability of the biped walking robot and it can be effectively used to model and control practical biped walking robot.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.963-968
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• 2010

This paper handles ZMP based control that is inspired by neural networks for humanoid robot walking on varying sloped surfaces. Humanoid robots are currently one of the most exciting research topics in the field of robotics, and maintaining stability while they are standing, walking or moving is a key concern. To ensure a steady and smooth walking gait of such robots, a feedforward type of neural network architecture, trained by the back propagation algorithm is employed. The inputs and outputs of the neural network architecture are the ZMPx and ZMPy errors of the robot, and the x, y positions of the robot, respectively. The neural network developed allows the controller to generate the desired balance of the robot positions, resulting in a steady gait for the robot as it moves around on a flat floor, and when it is descending slope. In this paper, experiments of humanoid robot walking are carried out, in which the actual position data from a prototype robot are measured in real time situations, and fed into a neural network inspired controller designed for stable bipedal walking.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.137.3-137
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• 2001

Many locomotion purpose robots are being built and are under research such as mobile manipulator and biped humanoid robot, etc. Dynamic posture stability of these robots is based on the ZMP point. For getting stable ZMP trajectory, some method has been developed but is too complex and time consuming which leads to inability in generating on-line ZMP trajectory. In this paper, we give a qualitative study about behavior of ZMP in biped walking robot through visualization. This result gives intuitive understanding about behavior of ZMP under various robot state.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.64-69
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• 2016

In this paper, a marathon of a humanoid robot is introduced, and its strategy is proposed. In order to develop humanoid robots for the purpose of cooperation and symbiosis with humans, the technologies such as increasing operating time and stability or recognizing surrounding environment are more important. One proper research model for the technologies is a human's marathon. In this paper, we introduce the human's marathon, and propose the humanoid robot's marathon. The marathon event of HuroCup has the most similar game rules to the human's marathon. The humanoid robot developed with the proper operating time, stability and ability to recognize the surrounding environment performed the marathon in HuroCup. The robot recognizes a marathon track using a computer vision, and builds the strategies for the race competition. By analyzing the experimental results, the humanoid robot performed in a real competition.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.85.2-85
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• 2002

If a biped humanoid robot walks stably on even and uneven planes like a human being, it should have a control system capable of compensating for moments generated by motions of its lower-limbs, upper-limbs and head. In this paper, a compensatory motion control method is described for the stability of biped humanoid robots. This control method calculates the combined motion of the trunk and the waist that cancels the generated moments by using an iteration algorithm. During the biped walking, the combined motion is employed only for stability while the motion of the lower-limbs is used only for locomotion. This method is useful for not only a steady walking but also a transient walking. The e...