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논문 상세정보

2족 보행로봇을 위한 여유자유도 궤적 생성

Redundancy Trajectory Generation for Biped Robot Manipulators

Abstract

A biped robot in locomotion can be regarded to be kinetically redundant in that the link-chain from its foot on the ground to its swing foot has more degrees of freedom that needed to realize stable bipedal locomotion. This paper proposes a new method to generate a trajectory for bipedal locomotion based on this redundancy, which directly generates a locomotion trajectory at the joint level unlike some other methods such as LIPM (linear inverted-pendulum mode) and GCIPM (gravity-compensated inverted-pendulum mode), each of which generates a trajectory of the center of gravity or the hip link under the assumption of the dominance of the hip-link inertia before generating the trajectory of the whole links at the joint level. For the stability of the trajectory generated in the proposed method, a stability condition based on the ZMP (zero-moment point) is used as a constraint as well as other kinetic constraints for bipedal motions. A 6-DOF biped robot is used to show how a stable locomotion trajectory can be generated in the sagittal plane by the proposed method and to demonstrate the feasibility of the proposed method.

참고문헌 (12)

  1. Shuuji K. and Kazuo T., 1991 'Study of Dynamic Biped Locomotion on Rugged Terrain : Derivation and Application of the Linear Inverted Pendulum Mode,' Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1405-1411 
  2. Shuuji K., Fumio K., Kenji K., Kiyoshi F., Kensuke H., Kazuhito Y. and Hirohisa H., 2003, 'Biped Walking Pattern Generation by using Preview control of Zero-Moment Point,' Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1620-1626 
  3. Lim, I., Yeon, J. S., Kwon, O. and Park, J. H., 2005, 'Stable Trajectory Generation of Biped Robots with Multiple Mass Model for Impact Force Minimization,' Proceedings of International Conference on Ubiquitous Robots and Ambient Intelligence 
  4. Ryoichi S., Masahiko H. and Masaaki S., 2006, 'Gait Control for Redundant Legged Biped Robot at Constant Velocity and Constant Height of the Waist,' Electrical Engineering in Japan, Vol. 156, No. 4, pp. 51-59 
  5. Yoo, D., So, B. R., Yi, B. J. and Kim, W., 2004, 'Motion Planning Algorithms for kinematically Redundant Manipulator Not Fixed to the Ground,' Journal of Control, Automation and Systems Engineering, Vol. 10, No. 10, pp. 869-877 
  6. Park, J. H. and Chung, H., 1999, 'Hybrid Control for Biped Robots Using Impedance Control and Computed-Torque Control,' IEEE Int. Conf. on Robotics & Automation, pp. 1365-1370 
  7. Park, J. H. and Kwon, O., 2001, 'Reflex Control of Biped Robot Locomotion on a Slippery Surface,' IEEE Int. Conf. on Robotics & Automation, pp. 4134-4139 
  8. Yeon, J. S., Kwon, O. and Park, J. H., 2006, 'Trajectory Generation and Dynamic Control of Planar Biped Robots with Curved Soles,' Journal of Mechanical Science and Technology, Vol. 20, No. 5, pp. 602-611 
  9. Park, J. H., 2001, 'Impedance Control of Biped Locomotion,' IEEE Transactions on Robotics and Automation, Vol. 17, No. 6, pp. 870-882 
  10. Park, J. H. and Kim, K. D., 1998, 'Biped Robot Walking Using Gravity-Compensated Inverted Pendulum Mode and Computed Torque Control,' IEEE Int. Conf. on Robotics & Automation, pp. 3528-3533 
  11. Naoki S., Toshiyuki M. and Kouhei O., 1997, 'An Approach to Biped Robot Control Utilized Redundancy in Double Support Phase,' Proceedings in Industrial Electronics Conference, Vol. 3, pp. 1332-1336 
  12. Park, J. H. and Cho, H. C., 2000, 'An On-Line Trajectory Modifier for the Base Link of Biped Robots to Enhance Locomotion Stability,' IEEE Int. Conf. on Robotics & Automation, pp. 3353-3358 

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