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A Study on Stabilization of Walking and Working Motion of Biped Robot
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 Title & Authors
A Study on Stabilization of Walking and Working Motion of Biped Robot
Ha, Eon-Tae; Shim, Hyeon-Seok; Park, In-Man; Lee, Sang-Hyeok; Cha, Bo-Nam; Park, Seong-Jun;
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 Abstract
In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.
 Keywords
Biped Robot;F/T Sensor;External isturbance;Stabilization;
 Language
Korean
 Cited by
 References
1.
J. H. Kim, D. H. Kim, Y.J. Kim, K. H. Park, "Humanoid Robot Hansaram: Recent Progress and Developments", HNICEM Int. Confrence, pp. 1-11, 2003.