Journal of Platform Technology

ICT Platform Society (ICT플랫폼학회)
권호 표지

Use of learning method to generate of motion pattern for robot

학습기법을 이용한 로봇의 모션패턴 생성 연구

  • 김동원 (인하공업전문대학 디지털전자과)
  • Received : 2018.08.20
  • Accepted : 2018.09.28
  • Published : 2018.09.30

⟨ Previous Next ⟩

Abstract

A motion pattern generation is a process of calculating a certain stable motion trajectory for stably operating a certain motion. A motion control is to make a posture of a robot stable by eliminating occurring disturbances while a robot is in operation using a pre-generated motion pattern. In this paper, a general method of motion pattern generation for a biped walking robot using universal approximator, learning neural networks, is proposed. Existing techniques are numerical methods using recursive computation and approximating methods which generate an approximation of a motion pattern by simplifying a robot's upper body structure. In near future other approaches for the motion pattern generations will be applied and compared as to be done.

동작 패턴 생성이란 로봇이 어떤 동작을 안정하게 수행하기 위해 미리 안정적인 동작 궤적을 계산해 내는 것을 말하며 자세 제어는 미리 생성된 동작 패턴을 이용하여 동작을 수행하는 도중 발생하는 외란을 제거하여 로봇의 자세를 안정 하게 만들어주는 것을 말한다. 본 논문에서는 수치적 방법이나 로봇의 상체 구조를 간략화하여 근사적으로 생성하는 기존의 보행 패턴 방법과는 다르게 범용적으로 사용 가능한 뉴럴네트워크 학습기법을 이용한 로봇의 동작패턴 생성방법에 대하여 연구한다.

Keywords

Acknowledgement

Supported by : National Research Foundation of Korea(NRF)

References

  1. Jin'ichi Yamaguchi, Eiji Soga, Sadatoshi Inoue and Atsuo Takanishi, "Development of a Bipedal Humanoid Robot-Control Method of Whole Body Cooperative Biped Walking-", Proceedings of the 1999 IEEE International Conference on Robotics & Automation,pp.368-374, May, 1999
  2. Koji Terada, Yoshiyuki Ohmura,Yasuo Kuniyoshi, "Analysis and control of whole body Dynamic Humanoid Motion-Towards Experiments on a Rall-and-Rise Motion", Proceedings of the 2003 IEEE/RJS Intl. Conference on Intelligent Robots and Systems,pp.1382-1387, October, 2003
  3. Shicichiro Nakaoka, Atsushi Makazawa Kazuhito Yoko, "Generating Whole body Motions for a biped Humanoid Robot from Captured Human Dances", Proceedings of the 2003 IEEE International Conference on Robotics & Automation,pp3905-3910,September,2003
  4. Koichi Nishiwaki, Mamoru Kuga, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue, "Whole-body cooperative Balanced Motion Generation for Reaching", IEEE Humanoid 2004 , pp.672-689, 2004
  5. T.Sugihara, Y.Nakamura, "Whole body Cooperative Balancing of Humanoid Robot using COG Jacobian", Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, pp.2575-2580, October 2002
  6. Yu Ogura, Teruo Kataoka, Hun-ok Lim, Atsuo Takanishi, "A Novel Method of Biped Walking Pattern Generation with Predetermind Knee Joint Motion", Proceedings of 2004 IEEE/RSJ Intl.Conference on Intelligent Robots and Systems,pp.2831-2836,October,2004
  7. K. Erbatur, A. Okazaki, K. Obiya, T. Takahashi, A. Kawamura, "A study on the zero moment point measurement for biped walking robots", International Workshop on Advanced Motion Control, pp.431-436, July 2002.
  8. Lefteri H,Tsoukalas Robert E.Uhrig ,"Fuzzy and Neural Approaches in Engineering", John Wiley & Sons,Inc.,1997
  9. KHR-1 hardwareManual for English, "http://www.kondo-robot.com/html/Info_En.html",Kondo Kagaku co,.LTD