위상평면을 이용한 유압식 이족 휴머노이드 로봇의 보행제어

다국어 초록 (Multilingual Abstract)

This paper proposes a novel control method using phase plane for a hycraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. 컴퍼스 이족 보행 모델
• Ⅲ. 보행 제어기 설계
• Ⅳ. 전신 동역학 시뮬레이션
• Ⅴ. 보행 실험
• Ⅵ. 토론 및 결론
• 참고문헌

참고문헌 (Reference)

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5 D. Choi, "Phase plane control of humanoid" 145-150, 2008

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7 T. McGeer, "Passive dynamic walking" 9 (9): 62-82, 1990

8 J. Y. Kim, "Online gain switching algorithm for joint position control of a hydraulic humanoid robot" 13-18, 2007

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11 A. Goswami, "Limit cycle in a passive compass gait biped and passivity-mimicking control laws" 4 : 273-286, 1997

12 J. Morimoto, "Improving humanoid locomotive performance with learnt approximated dynamics via Gaussian processes for regression" 4234-4240, 2007

13 K. Akachi, "Development of humanoid robot HRP-3P" 50-55, 2005

14 R. E. Goddard JR, "Biped side step in the frontal Plane" AC-28 (AC-28): 179-187, 1983