Locomotion control of biped robots on irregularly protruded uneven surface
DC Field | Value | Language |
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dc.contributor.author | Eung, Seo Kim | - |
dc.contributor.author | Je, Sung Yeon | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.date.accessioned | 2022-12-21T09:08:33Z | - |
dc.date.available | 2022-12-21T09:08:33Z | - |
dc.date.created | 2022-09-16 | - |
dc.date.issued | 2007-02 | - |
dc.identifier.issn | 1025-8973 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/180461 | - |
dc.description.abstract | This paper proposes the control method for walking of biped robots on geometrically realistic uneven surface with irregular protrusions. The focus is to maintain the robot's stability performing foot motions successively in order to adapt the foot to uneven terrain. A foot has 15 force sensors at regular intervals which fit into the 5 by 3 terrain matrix. The control strategy of landing phase (LP) is to form a 1) larger and 2) appropriately located contact polygon (convex hull) between foot and ground considering current ZMP (Zero Moment Point) position during the transition from LP to stable double support phase (SDSP). Therefore, the desired ZMP needed for the next step is determined at the center of the contact area at the end of LP. The GCIPM (Gravity Compensated Inverted Pendulum Mode) is modified for the base trajectory based on newly located ZMP position, regulated and interpolated to ensure the balance and smooth transition between phases. To evaluate the stability of the biped locomotion on the uneven terrain, ZMP is computed in world coordinate. Computer simulations of 28-DOF biped robot with 6-DOF environment model using SimMechanics. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IASTED | - |
dc.title | Locomotion control of biped robots on irregularly protruded uneven surface | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.5555/1710594.1710606 | - |
dc.identifier.scopusid | 2-s2.0-56249088667 | - |
dc.identifier.bibliographicCitation | Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC, pp.51 - 56 | - |
dc.relation.isPartOf | Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC | - |
dc.citation.title | Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC | - |
dc.citation.startPage | 51 | - |
dc.citation.endPage | 56 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Biomechanics | - |
dc.subject.keywordPlus | Biped locomotion | - |
dc.subject.keywordPlus | Computational methods | - |
dc.subject.keywordPlus | Programmable robots | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Trajectories | - |
dc.subject.keywordPlus | Biped robots | - |
dc.subject.keywordPlus | Contact areas | - |
dc.subject.keywordPlus | Control methods | - |
dc.subject.keywordPlus | Control strategies | - |
dc.subject.keywordPlus | Convex hulls | - |
dc.subject.keywordPlus | Double supports | - |
dc.subject.keywordPlus | Environment models | - |
dc.subject.keywordPlus | Foot adjustment | - |
dc.subject.keywordPlus | Force sensors | - |
dc.subject.keywordPlus | Inverted pendulum modes | - |
dc.subject.keywordPlus | Irregularly protruded uneven surface | - |
dc.subject.keywordPlus | Landing phase | - |
dc.subject.keywordPlus | Locomotion controls | - |
dc.subject.keywordPlus | Simmechanics | - |
dc.subject.keywordPlus | Smooth transitions | - |
dc.subject.keywordPlus | Trajectory based | - |
dc.subject.keywordPlus | Uneven terrains | - |
dc.subject.keywordPlus | World coordinates | - |
dc.subject.keywordPlus | Zero moment points | - |
dc.subject.keywordPlus | Identification (control systems) | - |
dc.subject.keywordAuthor | Biped robots | - |
dc.subject.keywordAuthor | Foot adjustment | - |
dc.subject.keywordAuthor | Irregularly protruded uneven surface | - |
dc.subject.keywordAuthor | Trajectory modification | - |
dc.identifier.url | https://dl.acm.org/doi/10.5555/1710594.1710606 | - |
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