Virtual Sensor Verification Using Neural Network Theory of the Quadruped Robot

보행로봇의 신경망 이론을 이용한 가상센서 검증

  • 고광진 (한양대학교 대학원 메카트로닉스공학과) ;
  • 김완수 (한양대학교 대학원 기계공학과) ;
  • 유승남 (한양대학교 대학원 기계공학과) ;
  • 한창수 (한양대학교 기계정보경영학부)
  • Published : 2009.11.01


The sensor data measured by the legged robot are used to recognize the physical environment or information that controls the robot's posture. Therefore, a robot's ambulation can be advanced with the use of such sensing information. For the precise control of a robot, highly accurate sensor data are required, but most sensors are expensive and are exposed to excessive load operation in the field. The seriousness of these problems will be seen if the prototype's practicality and mass productivity, which are closely related to the unit cost of production and maintenance, will be considered. In this paper, the use of a virtual sensor technology was suggested to address the aforementioned problems, and various ways of applying the theory to a walking robot obtained through training with an actual sensor, and of various hardware information, were presented. Finally, the possibility of the replacement of the ground reaction force sensor of legged robot was verified.


Legged Robot;Neural Network;Back Propagation;Virtual Sensor


  1. Put P. G. de Santos, Garcia, E. and Estremera, J., 2006, 'Quadrupedal Locomotion,' Springer
  2. Rehbinder, H. and Hu, X., 2000 'Nonlinear and Roll Estimation for Walking Robots' Proc of the IEEE Int. Conf. of Robotics and Automation, pp.2617-2622
  3. Iagnemma, K., Kang, S.W., Shibly, H. and Dubowsky, S., 2004 'Online Terrain Parameter Estimation for Wheeled Mobile Robots with Application to Planetary Rovers,' IEEE Transactions on Robotics, Vol.20, No.5, pp.921-927
  4. Caurin, G. and Tschichold-Gurman, N., 1994 'The Development of a Robot Terrain Interaction System for Walking Machines,' Proc. of Robotic and Automation, pp.1013-1018
  5. Kim, D.S., 1993 'Neural Networks . Theory and Applications,' ISBN: 89-8432-177-X-93560, Jinhan M&B
  6. Estremera, J. and Gonzalez de Santos, P., 2005 'Neural Virtual Sensor for Terrain Adaptation of Walking Machines,' Journal of Robotic Systems, Vol.22, No.6, pp.299-311
  7. Lenser, S., Bruce, J. and Veloso, M., 2001 'CMPack: A Complete Software System for Autonomous Legged Soccer Robots,' Proceedings of the Fifth International Conference on Autonomous Agents, pp.204-211