대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

이족보형로봇의 전체 보행구간에서의 균형점 궤적 생성에 관한 연구

A study on the ZMP Trajectory generation in multi step walking of IWR-III Biped Walking Robot

  • 구자혁 (인하대학교 자동화공학과) ;
  • 최영하 (인하대학교 자동화공학과) ;
  • 최상호 (인하대학교 자동화공학과) ;
  • 김진걸 (인하대학교 자동화공학과)
  • Koo, Ja-Hyuk (Dept. of Industrial Automation Engineering, Inha University) ;
  • Choi, Young-Ha (Dept. of Industrial Automation Engineering, Inha University) ;
  • Choi, Sang-Ho (Dept. of Industrial Automation Engineering, Inha University) ;
  • Kim, Jin-Geol (Dept. of Industrial Automation Engineering, Inha University)
  • 발행 : 1998.11.28
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초록

This paper deals with ZMP trajectory generation in multi step walking of IWR-III(Inha Walking Robot) Biped Walking Robot. Biped walking is realized by combining 6-types of pre-defined steps and the actual ZMP can be used as a stability index of a robot. For the good tracking of actual ZMP, desired ZMP trajectory is generated during the whole walking time not for each step. Trajectory generation is performed considering velocities and accelerations of given via points using 5-th order polynomial interpolation method. As a result, balancing joints have a more smooth and continuous motion and actual ZMP has a better tracking ability. Numerical simulator is done by MATLAB to guarantee the walking of a robot satisfying the ZMP stability.

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