[ Papers ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 31, No. 2, pp.123-133

ISSN: 2508-5107 (Online)

Print publication date 15 Apr 2022

Received 09 Feb 2022 Revised 16 Mar 2022 Accepted 1 Apr 2022

DOI: https://doi.org/10.7735/ksmte.2022.31.2.123

질량중심-역기구학과 모델 스위칭을 이용한 이족 로봇의 효과적인 지면 적응 보행 전략

여명훈^a ; 김정엽^a^{, *}

Effective Ground-Adaptive Walking Strategy for Biped Robots Using Center-of-Mass-Inverse Kinematics and Model Switching

Myung-Hun Yeo^a ; Jung-Yup Kim^a^{, *}

aDepartment of Mechanical Design and Robot Engineering, Seoul National University of Science and Technology

Correspondence to: ^*Tel.: +82-2-970-6355 E-mail address: jyk76@seoultech.ac.kr (Jung-Yup Kim).

Abstract

This study describes a walking motion control algorithm capable of effective ground adaptation without using a specific balance control algorithm when a biped robot walks on irregular ground. Through preview control, a center-of-mass trajectory capable of stable walking was derived, and motion control was performed using center of mass-inverse kinematics (CoM-IK) and computed torque control (CTC) in the task space. By switching the dynamic model according to the support/swing state of the leg, the motion control gain of the support leg and the swing leg can be maintained to a minimum. Therefore, when the foot lands on an irregular ground, joint rigidity is always minimized so that it can be easily adapted. Finally, the performance of the proposed algorithm was verified by comparing and analyzing three motion control methods on level and irregular grounds in the Gazebo dynamic simulation environment.

Keywords:

Walking strategy, Biped robot, Computed torque control, Model switching, Center of mass inverse kinematics

Acknowledgments

이 연구는 2022년도 정부(산업통상자원부)의 재원으로 한국산업기술진흥원의 지원을 받아 수행된 연구임(P0008473, 2022년 산업혁신인재성장지원사업). 또한, 산업통상자원부 민군기술협력 사업의 재원으로 민군협력진흥원의 지원을 받아 수행된 연구임(과제번호 : 21-CM-MU-01, 과제명 : 선저 어망제거를 위한 수중 로봇 기술 개발).

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Myung-Hun Yeo

M.Sc candidate in the Department of Mechanical Design and Robot Engineering, Seoul National University of Science & Technology.

His research interests include mechanical design, dynamics control, dynamics simulation of lagged robots.

E-mail: mhyeo22@naver.com

Jung-Yup Kim

Professor in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.

His research interests are lagged robot, assistive and rehabilitation robots.

E-mail: jyk76@seoultech.ac.kr