Foot and Body Control of Biped Robots to Walk on Irregularly Protruded Uneven Surfaces
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Jong Hyeon | - |
dc.contributor.author | Kim, Eung Seo | - |
dc.date.accessioned | 2022-12-20T23:35:05Z | - |
dc.date.available | 2022-12-20T23:35:05Z | - |
dc.date.created | 2022-08-26 | - |
dc.date.issued | 2009-02 | - |
dc.identifier.issn | 1083-4419 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/177306 | - |
dc.description.abstract | This correspondence proposes a control method for biped robots walking on a geometrically uneven surface with irregular protrusions. The focus is to maintain robot stability in leg and foot motions in order to adapt the foot to uneven terrains. Under the assumption that contact sensors are evenly installed at the foot soles, the geometric information under the landing foot is represented by a terrain matrix, whose elements represent the height of protruded cones. The control strategy of a landing phase (LP) is to form a large polygon with the contact points between the foot and the ground, based on the current zero-moment point (ZMP) and the locations of contact points during the transition from the LP to the stable double-support phase. The center of the polygon formed by the contact points at the end of the LP is to be used as the ZMP when the trajectory, for the next step is generated. The gravity-compensated inverted-pendulum-mode-based trajectory is modified based on the newly located ZMP position and is interpolated to remove any trajectory discontinuity and to ensure a smooth transition. A series of computer simulations of a 28-degree-of-freedom (DOF) biped robot with a six-DOF environment model using SimMechanics shows that a stable compliant locomotion on uneven surfaces is successfully achieved with the proposed method. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Foot and Body Control of Biped Robots to Walk on Irregularly Protruded Uneven Surfaces | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1109/TSMCB.2008.2003451 | - |
dc.identifier.scopusid | 2-s2.0-61549095004 | - |
dc.identifier.wosid | 000262562700025 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, v.39, no.1, pp.289 - 297 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | - |
dc.citation.title | IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | - |
dc.citation.volume | 39 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 289 | - |
dc.citation.endPage | 297 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Cybernetics | - |
dc.subject.keywordPlus | End effectors | - |
dc.subject.keywordPlus | Landing | - |
dc.subject.keywordPlus | Programmable robots | - |
dc.subject.keywordPlus | Trajectories | - |
dc.subject.keywordPlus | algorithm | - |
dc.subject.keywordPlus | artificial neural network | - |
dc.subject.keywordPlus | biomechanics | - |
dc.subject.keywordPlus | foot | - |
dc.subject.keywordPlus | letter | - |
dc.subject.keywordPlus | methodology | - |
dc.subject.keywordPlus | physiology | - |
dc.subject.keywordPlus | robotics | - |
dc.subject.keywordPlus | surface property | - |
dc.subject.keywordPlus | walking | - |
dc.subject.keywordPlus | Biped robots | - |
dc.subject.keywordPlus | Contact points | - |
dc.subject.keywordPlus | Control methods | - |
dc.subject.keywordPlus | Control strategies | - |
dc.subject.keywordPlus | Current zeros | - |
dc.subject.keywordPlus | Environment models | - |
dc.subject.keywordPlus | Geometric informations | - |
dc.subject.keywordPlus | Irregularly protruded uneven surface | - |
dc.subject.keywordPlus | Landing phase | - |
dc.subject.keywordPlus | matrixes | - |
dc.subject.keywordPlus | Robot stabilities | - |
dc.subject.keywordPlus | Simmechanics | - |
dc.subject.keywordPlus | Six-dof | - |
dc.subject.keywordPlus | Smooth transitions | - |
dc.subject.keywordPlus | Support phase | - |
dc.subject.keywordPlus | Trajectory modification | - |
dc.subject.keywordPlus | Uneven surface | - |
dc.subject.keywordPlus | Uneven terrains | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordAuthor | Biped robots | - |
dc.subject.keywordAuthor | irregularly protruded uneven surface | - |
dc.subject.keywordAuthor | trajectory modification | - |
dc.subject.keywordAuthor | uneven surface | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/4695980 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.