• 제어로봇시스템학회논문지
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• 제12권4호
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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.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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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 ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.959-964
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• 1992

This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.

• 한국정밀공학회지
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• 제21권7호
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• pp.115-123
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• 2004

This paper deals with the gait optimization of via points on biped robot. ZMP(Zero Moment point) is the most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, leg's trajectory and a desired ZMP trajectory is required, balancing motion is solved by FDM(Finite Difference Method). In this paper, optimal index is defined to dynamically stable walking of a biped robot, and genetic algorithm is applied to optimize gait trajectory and balancing motion of a biped robot. By genetic algorithm, the index of walking parameter is efficiently optimized, and dynamic walking stability is verified by ZMP verification equation. Genetic algorithm is only applied to balancing motion, and is totally applied to whole trajectory. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.

• 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.

• 융합신호처리학회논문지
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• 제13권2호
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• pp.113-118
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• 2012

기존의 4족 보행 로봇에서의 다리 부착 위치는 말, 사자 등의 동물에서 볼 수 있는 것과 같은 형태로서 사람들에게 익숙한 형태이기 때문에 외관상 자연스러우나 보행의 안정성, 보행의 속도 등 보행의 관점에서는 비효율적인 측면이 있다. 본 논문에서는 자연계에는 존재하지 않는 형태로서 보행이 효율적으로 이루어지도록 네 다리를 몸체에 부착한 형태의 4족 보행 로봇에 대하여 기술한다. 제안된 4족 보행 로봇은 로봇의 진행 방향에 대하여 좌우 다리와 전후다리를 갖는다. 일반적인 구조의 4족 보행 로봇은 정적인 보행을 하기 위하여 항상 세 다리가 지면에 닿아야하고 로봇의 무게 중심을 로봇 진행 방향에 대하여 좌우로 이동시켜주어야 한다. 또한 보행 속도를 높이기 위해서는 두 다리만 동시에 지면에 닿는 동적인 보행을 수행하여야 하는데 이는 제어하기가 쉽지 않고 사용된 모터의 특성에 따라서는 동적인 제어가 불가능할 수도 있다. 반면 제안된 로봇은 정적인 보행에서도 두 다리를 동시에 이동할 수 있어 보행의 안정성과 효율성을 크게 향상시켰다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.530-532
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• 2006

In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, flat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.69-73
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• 1987

In this paper the continuous static stable gait, kinematics and the basic control algorithm of the quadruped walking robot have been discussed. The control method described in this paper will be extended for the walking robot to walk on an uneven terrain.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.43-43
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• 2000

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 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 to 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 lot balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on even surface.