고가반 하중의 원격 제어용 구조로봇 개발

다국어 초록 (Multilingual Abstract)

We introduce to a humanoid rescue robot that is designed to have a large load carrying capacity. The robot’s goal is to lift and transfer patients or soldiers with impaired mobility for rescue and assistance on the battlefield or degraded human engineered environments. The other goal is to dispose of and move dangerous objects or explosive ordnance. The rescue robot is designed to have dual arm manipulators and a hybrid tracked and legged mobile platform to execute this kind of task. Real time closed loop inverse kinematics and dynamics-based motion optimization enables the effective performance of rescue tasks. The mechanical design and control algorithms are explained and the effectiveness is demonstrated in physical experiments with the humanoid rescue robot HURCULES.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 구조로봇 설계
• III. 동역학 기반의 궤적 생성
• IV. 실험 결과
• V. 결론
• REFERENCES

참고문헌 (Reference)

1 홍성일, "구조/구난 임무 수행을 위한 실험용 휴머노이드로봇의 개발과 동역학 기반의 모션 최적화" 제어·로봇·시스템학회 21 (21): 753-757, 2015

2 "The BEAR Battlefield Extraction-Assist Robot"

3 W. Lee, "Robust whole-body motion control for realtime tele-operation of a rescue robot(HURCULES)" 60-61, 2017

4 Y. Lee, "Performance analysis of software architectures with real-time kernel patches for the rescue robot" 460-465, 2014

5 S. Hong, "Kinematic control algorithms and robust controller design for rescue robot" 637-642, 2014

6 K. Lee, "Inverse kinematics with strict nonholonomic constraints on mobile manipulator" 2469-2474, 2017

7 T. Asfour, "Humanoid robotics" 19 (19): 108-118, 2012

8 "Gazebo"

9 S. Hong, "Dynamics based motion optimization and operational space control with an experimental rescue robot, HUBO T-100" 76-87, 2015

10 S. Hong, "Development of a humanoid robot for rescue tasks" 346-347, 2017

11 G. Pratt, "DARPA robotics challenge" 20 (20): 10-12, 2013

12 O. Sim, "Collision detection and safe reaction algorithm for non-backdrivable manipulator with single force/torque sensor" 1-10, 2017

13 W. Lee, "A whole-body rescue motion control with task-priority strategy for a rescue robot" 41 : 243-258, 2017

14 B. Siciliano, "A general framework for managing multiple tasks in highly redundant robotic systems" 1211-1216, 1991

15 B. Siciliano, "A closed-loop inverse kinematic scheme for on-line joint-based robot control" 8 : 231-243, 1990