WO2018097419A3 - 이족 보행 로봇의 안정된 보행 제어를 위해 단순화된 로봇의 모델링 방법 - Google Patents

이족 보행 로봇의 안정된 보행 제어를 위해 단순화된 로봇의 모델링 방법 Download PDF

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Publication number
WO2018097419A3
WO2018097419A3 PCT/KR2017/003413 KR2017003413W WO2018097419A3 WO 2018097419 A3 WO2018097419 A3 WO 2018097419A3 KR 2017003413 W KR2017003413 W KR 2017003413W WO 2018097419 A3 WO2018097419 A3 WO 2018097419A3
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WO
WIPO (PCT)
Prior art keywords
robot
virtual
simplified
modeling
walking control
Prior art date
Application number
PCT/KR2017/003413
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English (en)
French (fr)
Other versions
WO2018097419A2 (ko
Inventor
이종우
오용환
Original Assignee
한국과학기술연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국과학기술연구원 filed Critical 한국과학기술연구원
Priority to US16/463,117 priority Critical patent/US11253993B2/en
Publication of WO2018097419A2 publication Critical patent/WO2018097419A2/ko
Publication of WO2018097419A3 publication Critical patent/WO2018097419A3/ko

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Classifications

    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • 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
    • B25J13/085—Force or torque sensors
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

이족 보행 로봇의 안정된 보행 제어를 위해 단순화된 로봇의 모델링 방법은, 가상의 몸통과, 상기 몸통의 질량중심(CoM; Center of Mass)보다 높은 위치에 설정된 가상 피봇점(VPP; virtual pivot point)에서 상기 몸통에 연결되는 가상의 두 다리 및 상기 두 다리에 각각 연결되어 지면을 딛는 가상의 발을 포함하는 가상 진자 모델로 단순화된 로봇 모델을 제공하고, 상기 두 다리에 작용하는 지면의 반력이 상기 VPP를 향하여 작용하여, 상기 지면의 반력이 상기 CoM에 대한 복원 모멘트를 제공하여 상기 몸통의 자세 안정화가 자연히 이루어지도록 한다.
PCT/KR2017/003413 2016-11-22 2017-03-29 이족 보행 로봇의 안정된 보행 제어를 위해 단순화된 로봇의 모델링 방법 WO2018097419A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/463,117 US11253993B2 (en) 2016-11-22 2017-03-29 Method for modeling robot simplified for stable walking control of bipedal robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020160155493A KR101875510B1 (ko) 2016-11-22 2016-11-22 이족 보행 로봇의 안정된 보행 제어를 위해 단순화된 로봇의 모델링 방법
KR10-2016-0155493 2016-11-22

Publications (2)

Publication Number Publication Date
WO2018097419A2 WO2018097419A2 (ko) 2018-05-31
WO2018097419A3 true WO2018097419A3 (ko) 2018-08-02

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PCT/KR2017/003413 WO2018097419A2 (ko) 2016-11-22 2017-03-29 이족 보행 로봇의 안정된 보행 제어를 위해 단순화된 로봇의 모델링 방법

Country Status (3)

Country Link
US (1) US11253993B2 (ko)
KR (1) KR101875510B1 (ko)
WO (1) WO2018097419A2 (ko)

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KR20200099664A (ko) * 2019-02-15 2020-08-25 현대자동차주식회사 로봇의 보행 제어시스템 및 제어방법
CN111259566B (zh) * 2020-02-12 2023-04-07 广东工业大学 一种单腿机器人恒力补偿能量方法
CN111674486B (zh) * 2020-05-25 2021-08-10 浙江大学 双足机器人稳定步行控制方法、装置、设备及可读介质
CN111730605B (zh) * 2020-08-04 2020-12-15 深圳市优必选科技股份有限公司 一种机器人姿态控制方法、装置、可读存储介质及机器人
CN112698650B (zh) * 2020-12-16 2024-05-07 深圳市优必选科技股份有限公司 仿人机器人的类人步态控制方法、装置、设备及存储介质
CN112720483B (zh) * 2020-12-23 2022-04-19 深圳市优必选科技股份有限公司 合质心状态获取方法、装置、仿人机器人和可读存储介质
CN112882467B (zh) * 2021-01-12 2022-11-18 常州工程职业技术学院 一种双足仿人机器人在斜坡上行走的步态规划方法
CN112975966B (zh) * 2021-02-24 2022-07-29 深圳市优必选科技股份有限公司 机器人摆动腿落地检测方法、装置和机器人
CN113050645B (zh) * 2021-03-22 2022-04-01 华中科技大学 一种双足机器人的弹簧负载倒立摆模型及步态规划方法
CN114035593B (zh) * 2021-09-28 2024-04-12 北京炎凌嘉业机电设备有限公司 多模式运动的力伺服足式运动控制方法
CN115042893B (zh) * 2022-06-13 2023-07-18 北京航空航天大学 基于mems加工实现的微型爬行机器人
CN115128960B (zh) * 2022-08-30 2022-12-16 齐鲁工业大学 一种基于深度强化学习双足机器人运动控制方法及系统

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Also Published As

Publication number Publication date
WO2018097419A2 (ko) 2018-05-31
US20200016740A1 (en) 2020-01-16
KR101875510B1 (ko) 2018-07-09
KR20180057173A (ko) 2018-05-30
US11253993B2 (en) 2022-02-22

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