지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한전기학회 International Journal of Control Automation and Systems International Journal of Control Automation and System Vol.6 No.4
- 발행연도
- 2008.8
- 수록면
- 551 - 558 (8page)
이용수
초록· 키워드
오류제보하기
This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper reaction under the various ground situations, a fuzzy algorithm is applied in finding the proper angle of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs humanoid robot, ISHURO-II.
목차
Abstract
1. INTRODUCTION
2. WALKING PATTERN AND STABILIZATION ALGORITHM
3. SIMULATION AND EXPERIMENT
4. CONCLUSION
REFERENCES
참고문헌 (13)
참고문헌 신청
M. Vukobratovic , 1969 , Contribution to the synthesis of biped gait , IEEE Trans. on Bio-Medical Engineering 16 : 1 ~ 6
K. Nishiwaki , 2002 , Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP , Proc. of IEEE, RSJ Int. Conf. on Intelligent Robots and System : 2684 ~ 2689
D. Djoudi , 2005 , Stability analysis of a walk of a biped with control of the ZMP , Prof. of IEEE, RSJ Int. Conf. on Intelligent Robots and Systems : 2461 ~ 2467
T. Sugihara , 2002 , Whole-body cooperative balancing of humanoid robot using COG Jacobian , Proc. of IEEE, RSJ. Intl. Conf. on Intelligent Robots and Systems : 2575 ~ 2580
D. Kim , 2005 , Zero-moment point trajectory modeling of a biped walking robot using an adaptive neuro-fuzzy system , Proc. of IEE Control Theory 152 : 411 ~ 426
K. Nishiwaki , 2002 , Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP , Proc. of IEEE, RSJ Int. Conf. on Intelligent Robots and System : 2684 ~ 2689
D. Djoudi , 2005 , Stability analysis of a walk of a biped with control of the ZMP , Prof. of IEEE, RSJ Int. Conf. on Intelligent Robots and Systems : 2461 ~ 2467
T. Sugihara , 2002 , Whole-body cooperative balancing of humanoid robot using COG Jacobian , Proc. of IEEE, RSJ. Intl. Conf. on Intelligent Robots and Systems : 2575 ~ 2580
D. Kim , 2005 , Zero-moment point trajectory modeling of a biped walking robot using an adaptive neuro-fuzzy system , Proc. of IEE Control Theory 152 : 411 ~ 426
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UCI(KEPA) : I410-ECN-0101-2010-560-001924150