KR20080079845A - 칼만 필터를 이용한 2족보행로봇의 균형제어시스템 및 그제어방법 - Google Patents
칼만 필터를 이용한 2족보행로봇의 균형제어시스템 및 그제어방법 Download PDFInfo
- Publication number
- KR20080079845A KR20080079845A KR1020070020381A KR20070020381A KR20080079845A KR 20080079845 A KR20080079845 A KR 20080079845A KR 1020070020381 A KR1020070020381 A KR 1020070020381A KR 20070020381 A KR20070020381 A KR 20070020381A KR 20080079845 A KR20080079845 A KR 20080079845A
- Authority
- KR
- South Korea
- Prior art keywords
- zmp
- robot
- value
- kalman filter
- control
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012937 correction Methods 0.000 claims description 17
- 238000000465 moulding Methods 0.000 abstract 1
- 238000006243 chemical reaction Methods 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 210000004197 pelvis Anatomy 0.000 description 4
- 210000003423 ankle Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000004615 ingredient Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (2)
- 다수의 관절이 포함된 2족보행로봇의 균형제어시스템으로,상기 로봇에 장착된 압력센서로부터 수신된 신호를 기초로 ZMP 값을 측정하고 다음 명령주기의 ZMP 값을 예측하는 칼만 필터와,상기 칼만 필터에 의해 측정된 ZMP 값과 예측된 ZMP 값을 비교하여 수정궤적을 생성하는 궤적 비교모듈과,상기 궤적 비교모듈에 의해 생성된 수정궤적을 기초로 관절의 제어값을 계산하여 상기 각 관절을 제어하기 위한 제어신호를 출력하는 로봇 제어모듈을 포함하여 구성되는 것을 특징으로 하는 2족보행로봇의 균형제어시스템.
- 다수의 관절이 포함된 2족보행로봇의 균형 제어 방법으로,로봇에 장착된 압력센서로부터 입력되는 신호를 기초로 ZMP 값을 측정하는 단계와,측정된 ZMP값을 기초로 다음 명령주기의 ZMP 값을 예측하는 단계와,상기 예측된 ZMP 값과 상기 측정된 ZMP 값을 비교하여 수정궤적을 생성하는 단계와,생성된 수정궤적을 기초로 관절의 제어값을 계산하여 상기 관절을 제어하기 위한 제어신호를 출력하는 단계를 포함하는 것을 특징으로 하는 특징으로 하는 2족 보행로봇의 균형제어시스템의 제어방법.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020070020381A KR100927572B1 (ko) | 2007-02-28 | 2007-02-28 | 칼만 필터를 이용한 2족보행로봇의 균형제어시스템 및 그제어방법 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020070020381A KR100927572B1 (ko) | 2007-02-28 | 2007-02-28 | 칼만 필터를 이용한 2족보행로봇의 균형제어시스템 및 그제어방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20080079845A true KR20080079845A (ko) | 2008-09-02 |
KR100927572B1 KR100927572B1 (ko) | 2009-11-23 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020070020381A KR100927572B1 (ko) | 2007-02-28 | 2007-02-28 | 칼만 필터를 이용한 2족보행로봇의 균형제어시스템 및 그제어방법 |
Country Status (1)
Country | Link |
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KR (1) | KR100927572B1 (ko) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100953431B1 (ko) * | 2008-02-28 | 2010-04-20 | 숭실대학교산학협력단 | 지엠피의 상태추정을 통한 2족보행로봇의 균형제어기법 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101073496B1 (ko) | 2009-02-27 | 2011-10-17 | 숭실대학교산학협력단 | 이족 로봇의 안정된 보행을 위한 칼만 필터의 지엠피 상태예측을 통한 균형제어 기법 |
KR101073511B1 (ko) | 2009-05-08 | 2011-10-17 | 한국과학기술연구원 | 이족 보행 로봇의 보행 패턴 생성 시스템 |
KR20190005501A (ko) | 2017-07-07 | 2019-01-16 | 오현수 | 롤 방향 자유도를 사용하지 않는 이족보행 로봇 및 그 이족보행 방법 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100960552B1 (ko) * | 2002-04-26 | 2010-06-03 | 혼다 기켄 고교 가부시키가이샤 | 다리식 이동 로봇의 제어장치 및 족적결정 장치 |
JP4644833B2 (ja) * | 2004-03-31 | 2011-03-09 | 株式会社国際電気通信基礎技術研究所 | 2足歩行移動装置 |
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2007
- 2007-02-28 KR KR1020070020381A patent/KR100927572B1/ko active IP Right Grant
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100953431B1 (ko) * | 2008-02-28 | 2010-04-20 | 숭실대학교산학협력단 | 지엠피의 상태추정을 통한 2족보행로봇의 균형제어기법 |
Also Published As
Publication number | Publication date |
---|---|
KR100927572B1 (ko) | 2009-11-23 |
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