고장 난 다리가 있는 사족 보행 로봇을 위한 최적 힘 배분

다국어 초록 (Multilingual Abstract)

The force distribution in multi-legged robots is a constrained, optimization problem. The solution to the problem is the set points of the leg contact forces for a particular system task. In this paper, an efficient and general formulation of the force distribution problem is developed using linear programming. The considered walking robot is a quadruped robot with a locked-joint failure, i.e., a joint of the failed leg is locked at a known place. For overcoming the drawback of marginal stability in fault-tolerant gaits, we define safety margin on friction constraints as the objective function to be maximized. Dynamic features of locked-joint failure are represented by equality and inequality constraints of linear programming. Unlike the former study, our result can be applied to various forms of walking such as crab and turning gaits. Simulation results show the validity of the proposed scheme.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 모델링 및 문제 설정
• 3. LP를 이용한 힘 배분 기법
• 4. 모의 실험
• 5. 결론
• 감사의 글
• 참고문헌
• 저자소개

참고문헌 (Reference)

1 양 정 민, "에너지 안정여유도를 이용한 사족 보행 로봇의 내고장성 걸음새" 대한전기학회 55 (55): 319-326, 2006

2 양정민, "고장 난 다리가 있는 사족 보행 로봇의 평탄 직선보행을 위한 효율적인 다리 힘 배분 알고리즘" 대한전기학회 57 (57): 896-901, 2008

3 W. Y. Jiang, "Optimization of legged robot locomotion by control of foot-force distribution" 26 (26): 311-323, 2004

4 F.-T. Cheng, "Optimal force distribution in multiple-chain robotic systems" 21 (21): 13-24, 1991

5 J.-S. Chen, "Optimal force distribution in multilegged vehicles" 17 (17): 159-172, 1999

6 C. A. Klein, "Optimal force distribution for the legs of a walking machine with friction cone constraints" 6 (6): 73-85, 1990

7 D. C. Kar, "Minimum energy force distribution for a walking robot" 18 (18): 47-54, 2001

8 V. Kumar, "Force distribution in walking vehicles" 112 : 90-99, 1990

9 V. Kumar, "Force distribution in closed kinematic chains" 4 (4): 657-664, 1988

10 J.-M.Yang, "Fault tolerant gaits of legged robots for locked joint failures" 32 (32): 507-516, 2002

11 R. S. Jamisola, "Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures" 22 (22): 603-612, 2006

12 P. Gonzalez de Santos, "Dynamic effects in statically stable walking machines" 23 : 71-85, 1998

13 J.-M. Yang, "Crab walking of quadruped robots with a locked joint failure" 17 (17): 863-878, 2003