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박건우(Goun-Woo Park),최시명,박종현(Jong Hyeon Park) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
Trajectory generation is important because it decides the walking stability, continuity and performance. Generally, LIPM is used for it, however it results in a trajectory that cannot have vertical motion because it's linearization. This paper proposes a new trajectory generation method called Extended Linear Inverted Pendulum Mode(ELIPM). It is possible to generate vertical motion and even revolute motion. It can change the performance of locomotion by controlling the stride and locomotion frequency.
박건우(Goun-Woo Park),최시명(See Myoung Choi),박종현(Jong Hyeon Park) 대한기계학회 2011 大韓機械學會論文集A Vol.35 No.7
궤적생성은 로봇보행의 안정성, 연속성 그리고 보행특성을 결정하는 가장 중요한 일이다. 보통 궤적생성법으로 LIPM을 많이 쓰지만 그것은 그것의 선형화 기법 때문에 수직방향으로의 동작생성을 할 수 없다는 단점이 있다. 이 논문에서는 ELIPM이라는 새로운 궤적생성법을 제안한다. 이 궤적생성법은 전진방향의 동작은 물론이고 수직방향의 동작을 간단하게 생성할 수 있다. Trajectory generation is important because it determines the walking stability, continuity, and performance of a body in motion. Generally, the Linear Inverted Pendulum Mode is used for trajectory generation; however, for the sake of simplicity, the trajectory in this mode does not allow vertical motions and pitching motions of the body. This paper proposes a new trajectory generation method called Extended Linear Inverted Pendulum Mode (ELIPM) that allows vertical motion as well as pitching motion. This method can also improve the performance of locomotion by controlling the stride and locomotion frequency of a body.
증가된 자코비안 해석방법을 이용한 2족 보행로봇의 잉여 궤적 생성
연제성(Je Sung Yeon),박건우(Goun-Woo Park),박종현(Jong Hyeon Park) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
Analyzing a biped robot as a redundancy system is more useful for the change of walking speed and direction. Thus this paper proposes the redundancy trajectory generation method for biped robot with some conditions. One is the most important stability condition ZMP for biped robot, another is the joint limitation for a cyclicity motion, and the other is the damped least-square solution to overcome joint singularity. The augmented Jacobian method are used at the acceleration level to guarantee the minimum motion factor and the stability condition. And joint limitations and damping factors are reflected as an additional task at null space component. As a consequence, we can get the joint trajectories in the reasonable boundary and achieve the stable biped walking motion.