한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제22권7호
  • /
  • Pages.112-121
  • /
  • 2005
  • /
  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

도립진자형 이족보행로봇의 유연한 궤적 생성

A Smooth Trajectory Generation for an Inverted Pendulum Type Biped Robot

  • 노경곤 (인하대학교 대학원 자동화공학과) ;
  • 공정식 (인하대학교 대학원 자동화공학과) ;
  • 김진걸 (인하대학교 전기공학과) ;
  • 강찬수 (인하대학교 대학원 자동화공학과)
  • 발행 : 2005.07.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.

키워드

참고문헌

  1. Takanishi, A., Ishida, M., Yamazaki, Y. and Kato, I., 'The Realization of Dynamic Walking by The Biped Walking Robot WL-10RD,' Journal of the Robotics Society of Japan, Vol. 3, no. 4, pp. 325 - 336, 1985 https://doi.org/10.7210/jrsj.3.325
  2. Erbatur, K., Okazaki, A., Obiya, K., Takanishi, T. and Kawamura, A., 'A Study on the Zero Moment Point Measurement for Biped Walking Robots,' Advanced Motion Control, 2002 7th International Workshop on 3 - 5, pp. 431 - 436, 2002 https://doi.org/10.1109/AMC.2002.1026959
  3. Goswami, A., 'Foot Rotation Indicator (FRI) point: A new gait planning tool to evaluate postural stability of biped robot,' IEEE ICRA, pp. 47 - 52, 1999 https://doi.org/10.1109/ROBOT.1999.769929
  4. Okumura, Y., Tawara, T., Endo, K., Furuta, T. and Shimizu, M., 'Realtime ZMP Conpensation for Biped Walking Robot using adaptive Inertia Force Control,' IEEE Intl. Conference on Intelligent Robots and Systems, pp. 335 - 339, 2003 https://doi.org/10.1109/IROS.2003.1250650
  5. Lim, S.H. and Kim, J.G, 'Control of a Biped Walking Robot using Zero Moment Point Formulation,' Trans. KIEE Vol. 48A, No.8, pp 1022 - 1030, 1999
  6. Napoleon., Nakamura, S. and Sampei. M., 'Balance Control Analysis of Humanoid Robot based on ZMP Feedback Control,' IEEE Conference on Intelligent Robots and Systems, pp. 2437 - 2442, 2002
  7. Chevallereau, C., Formal'sky, A., and Perrin, B., 'Low Energy Cost Reference Trajectories for a Biped Robot,' IEEE ICRA, pp. 1398 - 1404, 1998
  8. Arakawa, T. and Fukuda, T., 'Natural Motion Trajectory Generation of Biped Locomotion Robot using Genetic Algorithm through Energy Optimization,' IEEE Systems, Man and cybernetics, pp. 1495 - 1500, 1996 https://doi.org/10.1109/ICSMC.1996.571368
  9. Cheng, M.Y. and Lin, C.S., 'Genetic Algorithm for Control Design of Biped Locomotion,' IEEE Proc. System, Man and Cybernetics, pp. 1315 - 1320, 1995 https://doi.org/10.1109/ICSMC.1995.537954
  10. Choi, S.H., Choi, Y.H. and Kim, J.G, 'Optimal Walking Trajectory Generation for a Biped Robot Using Genetic Algorithm,' Pro. Of the 1999 IEEE/RSJ Int. Conference on Intelligent Robots and Systems, pp. 1458 - 1459, 1999 https://doi.org/10.1109/IROS.1999.811684
  11. Arakawa, T., Fukuda, T., 'Natural motion generation of biped locomotion robot using hierarchical trajectory generation method consist of GA, EP layers,' IEEE International Conference on Robotics and Automation, pp. 211 - 216, 1997 https://doi.org/10.1109/ROBOT.1997.620040
  12. Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K. and Hirukawa, H., 'The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation,' IEEE International Conference on Intelligent Robot and Systems, pp. 239 - 246, 2001 https://doi.org/10.1109/IROS.2001.973365
  13. Noh, Kyung-Kon and Kim, Jin-Geol, 'A Stability Analysis of a Biped Walking Robot about Balancing Weight,' Journal of the Korean Society of Precision Eng, Vol. 22, No.1, pp. 89 - 96, 2005
  14. Kim, Jin-Geol, Choi, Sang-Ho and Park, Ki-Heon, 'Optimal Gait Control for a Biped Locomotion Using Genetic Algorithm,' Lecture Notes in Computer Science, Vol. 3046 Part IV, Springer pp. 29-38, 2004 https://doi.org/10.1007/b98054