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각 운동량 최소를 통한 Compass-gait Walker 에서의 더 강인한 보행 궤적 산출
조권승,Christian Debuys,허필원 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
In the field of humanoid robots, bipedal walking control requires the following steps: dynamic modeling, calculating optimal trajectory based on robotics dynamics, controlling the biped using the trajectory. We usually expect the bipeds to walk similar to human walking to ensure that robots have robustness and flexibility in tracking the trajectory. In this paper, we sought to minimize the angular momentum H along with control effort on two degree of freedom Compass-gait Walker for human’s robustness. Euler-Lagrange formulation to calculate robotics dynamics and the trajectory optimization via trapezoidal direct collocation method were used to generate desired joint trajectories for a 2 DOF Compass-gait Walker. Results showed that the inclusion of angular momentum in the cost function can help enhance the walking robustness to perturbation.
학부생들을 위한 최적 제어 방법 소개: Direct Collocation 방법을 이용한 Compass-gait Walker 최적 제어
문선웅,차명주,조권승,허필원 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
To control bipedal robots, trajectories are needed. To find to optimal trajectory, direct collocation method can be used. Direct collocation discretizes the continuous-time dynamics and uses nonlinear programming. Compass-gait Walker (CGW) are used as an example. Given the robotic equations and impact dynamics from [1], an interior point algorithm is applied to solve the nonlinear programming. Optimal trajectory and optimal control were computed and applied to control CGW. The results along with phase portrait are presented.
Compass-gait Walker 의 역학적 모델 및 제어 방법: 학부생들을 위한 운동방정식 유도, 시뮬레이션 방법 소개
차명주,문선웅,조권승,허필원 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
Student majoring in engineering are interested in bipedal robot research. However, it is not easy to know what they need to study or understand, at first. For them we present contents by taking compass-gait walker as an example. To control the compass walker, we have to construct dynamic model using kinematics and kinetics. It is important to take a closer look at the event of a heal strike in detail. When a heel strike occurs, the walker gets the impulsive force from the ground that causes abrupt velocity changes. After constructing dynamic model, we make the trajectories for the walker to follow. We can use a PD controller for the tracking control. The results show that the compass-gait walker can walk resembling human walking.