• Title, Summary, Keyword: Bipedal Robot

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The Control of a Bipedal Robot using ANFIS (ANFIS를 이용한 이족보행로봇 제어)

  • Hwang, Jae-Pil;Kim, Eun-Tai;Park, Mignon
    • Proceedings of the KIEE Conference
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    • pp.523-525
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    • 2004
  • Over the last few years, the control of bipedal robot has been considered a promising research field in the community of robotics. But the problems we encounter make the control of a bipedal robot a hard task. The complicated link connection of the bipedal robot makes it impossible to achieve its exact model. In addition, the joint velocity is needed to accomplish good control performance. In this paper a control method using ANFIS as an system approximator is purposed. First a model biped robot of a biped robot with switching leg influence is presented. Unlike classical method, ANFIS approximation error estimator is inserted in the system for tuning the ANFIS. In the entire system, only ANFIS is used to approximate the uncertain system. ANFIS tuning rule is given combining the observation error, control error and ANFIS approximation error. But this needs velocity information which is not available. So a practical method is newly presented. Finally, computer simulation results is presented to show this control method has good position tracking performance and robustness without need for leg switching acknowledgement.

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Dynamic Simulation of Modifiable Bipedal Walking on Uneven Terrain with Unknown Height

  • Hong, Young-Dae;Lee, Ki-Baek
    • Journal of Electrical Engineering and Technology
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    • v.11 no.3
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    • pp.733-740
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    • 2016
  • To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

The Role of Kinematics in Robot Development (로봇발전과 기구학의 역할)

  • Youm, Youngil
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.3
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    • pp.333-344
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    • 2014
  • This is the survey paper on the role of kinematics in robot development. The robot is considered as a form of mechanical systems which includes closed-chain loop system, open-chain loop system and closed and open switching system. To analyze these systems, kinematic notations has been developed in kinematics of mechanical theory since 1955 and has been applied in robotics. Several kinematic notations including Denavit-Hartenberg notations have been reviewed. The status of development of the spherical motor which has a great impact on the future robot advancement has reviewed, and research activity on a spherical motor and its application to 3-D spatial mechanisms at UNIST is introduced. For the open and closed switching mechanical systems, the bipedal robots' walking theories using Zero Moment Point are reviewed. And current status regarding bipedal robots based on newly developed passive dynamic walking theory is reviewed with the research activity at UNIST on this subject.

A New Adaptive Fuzzy Approach for Control of a Bipedal Robot (이족 보행 로봇 제어에 대한 새로운 적응 퍼지 접근방법)

  • Hwang, Jae-Pil;Kim, Eun-Tai
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.42 no.5
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    • pp.13-18
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    • 2005
  • Over the last few years, the control of bipedal robot has been considered a promising but difficult research field in the community of robotics. In this paper, a new robust output control method for a bipedal robot is proposed using the adaptive fuzzy logic. The adaptive fuzzy logic is used as an system approximator to cancel the unknown uncertainty. First, a model for a bipedal robot including switching leg influence, uncertainty and disturbance is presented. Second, a controller is designed in which the joint velocity measurement is not required. Fuzzy approximation error estimator is inserted in the system for tuning the fuzzy logic. Finally, the result of the computer simulation is presented to show the validity of the suggested control method.

A Study on ZMP Improvement of Biped Walking Robot Using Neural Network and Tilting (신경회로망과 틸팅을 이용한 이족 보행로봇의 ZMP 개선 연구)

  • Kim, Byoung-Soo;Nam, Kyu-Min;Lee, Soon-Geul
    • The Journal of Korea Robotics Society
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    • v.6 no.4
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    • pp.301-307
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    • 2011
  • Based on the stability criteria of ZMP (Zero Moment Point), this paper proposes an adjusting algorithm that modifies walking trajectory of a bipedal robot for stable walking by analyzing ZMP trajectory of it. In order to maintain walking balance of the bipedal robot, ZMP should be located within a supporting polygon that is determined by the foot supporting area with stability margin. Initially tilting imposed to the trajectory of the upper body is proposed to transfer ZMP of the given walking trajectory into the stable region for the minimum stability. A neural network method is also proposed for the stable walking trajectory of the biped robot. It uses backpropagation learning with angles and angular velocities of all joints with tilting to get the improved walking trajectory. By applying the optimized walking trajectory that is obtained with the neural network model, the ZMP trajectory of the bipedal robot is certainly located within a stable area of the supporting polygon. Experimental results show that the optimally learned trajectory with neural network gives more stability even though the tilting of the pelvic joint has a great role for walking stability.

Modeling and RPY Motion Analysis of Bipedal Walking Robots (이족 로봇의 보행 모델링 및 롤/피치/요 운동 특성 분석)

  • Kim, Byoung-Ho
    • Journal of Korean Institute of Intelligent Systems
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    • v.21 no.3
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    • pp.353-358
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    • 2011
  • This paper presents a virtual-legged walking model for bipedal robots and analyzes its fundamental RPY(Roll, Pitch, and Yaw) motion effects by simulation. For the purpose of identifying the motion effects of the bipedal walking, we assign some arbitrary trajectories both at the center of mass and at the center of pressure of the robot based on human walking. And then we verify the major moments to the roll, pitch, and yaw directions of the robot. As a result, it is shown that those motions are natural in the process of bipedal walking and they are deeply dependent on the step distance, the vertical level of the center of mass, and the acceleration of the robot. The importance of trajectory planning for the footstep location during a bipedal walking is finally addressed in terms of balance.

Kinesiology Based Human-like Walking Pattern Design for a Bipedal Robot (인체운동학에 기반한 이족로봇의 인간형 걸음새 설계)

  • Park, Jin-Hee;Kwon, Sang-Joo
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.7
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    • pp.659-667
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    • 2011
  • The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.

Redundancy Trajectory Generation for Biped Robot Manipulators (2족 보행로봇을 위한 여유자유도 궤적 생성)

  • Yeon, Je-Sung;Park, Jong-Hyeon
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.33 no.10
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    • pp.1014-1022
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    • 2009
  • 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.

Trajectory generation method for bipedal walking on the stairs (두발 로봇의 계단 보행궤적 생성방법)

  • Park, Chan-Soo;Choi, Chong-Ho;Ha, Tae-Sin
    • Proceedings of the KIEE Conference
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    • pp.172-174
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    • 2006
  • In this paper, we propose the trajectory generation method for bipedal walking on the stairs. This method is based on multi-masses inverted pendulum mode (MMIPM). MMIPM can effectively reduce the ZMP error but it is only applied to walking on the flat ground. In order to reduce ZMP error when a robot walks on the stairs, we generate the walking motion by MMIPM and modify that motion using parametric functions. We determine the values of the parameters by the simulations. Simulation results show that the robot can walk more stable on the stairs.

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