동적 특성을 고려한 휴머노이드 펠비스의 구조최적설계

Abstract

Biped humanoids maintain their stability through precise controls during locomotion or operation. Dynamic forces are applied to the humanoid structure during locomotion or operation. If the humanoid has weakness from a structural viewpoint, these forces cause severe deformation or vibration of the structure, which can make the humanoid unstable. In this research, a design scenario is proposed to design a robust humanoid structure under the dynamic loads. The pelvis part is selected for design practice. Multibody dynamics is adopted to calculate the dynamic loads and a structural optimization technique is employed to design the pelvis structures. Since it is extremly difficult to directly consider the dynamic loads in the optimization process, equivalent static loads are evaluated from the dynamic loads and the design results are discussed.