강인한 다리 구조 설계에 따른 사족 보행 로봇 제어 안정성 연구
Research on Stability of Control for Quadruped Robot with Robust Leg Structure Design
0
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
This paper presents research on the stability of control for a quadruped robot with twodifferent leg structure designs. The focus of the research is on the design and analysis of the legstructures in terms of their impact on the stability and robustness of the robot’s motion. First, a staticanalysis was performed in the simulation to compare the structural strength of the legs when the sameforce was applied. Secondly, two quadruped robots were built, each equipped with differently designedlegs, and performed trot gait walking in the real world. And the states of the robots and the torques ofeach joint were analyzed and compared. In conclusion, based on the results of structural analysis insimulation and the actual walking experiments with the robots, it was demonstrated that the legsdesigned to be structurally robust improved the control stability of the quadruped robot.
Abstract
This paper presents research on the stability of control for a quadruped robot with twodifferent leg structure designs. The focus of the research is on the design and analysis of the legstructures in terms of their impact on the stability and robustness of the robot’s motion. First, a staticanalysis was performed in the simulation to compare the structural strength of the legs when the sameforce was applied. Secondly, two quadruped robots were built, each equipped with differently designedlegs, and performed trot gait walking in the real world. And the states of the robots and the torques ofeach joint were analyzed and compared. In conclusion, based on the results of structural analysis insimulation and the actual walking experiments with the robots, it was demonstrated that the legsdesigned to be structurally robust improved the control stability of the quadruped robot.
참고문헌 (19)
- 옥용진, "모바일로봇의 정밀 실내주행을 위한 개선된 ORB-SLAM 알고리즘", 로봇학회 논문지, 15(3), pp.205~211 (2020), 한국로봇학회[DOI]
- 최병희, "실내 물류 환경에서 라이다-카메라 약결합 기반 맵핑 및 위치인식과 네비게이션 방법", 로봇학회 논문지, 17(4), pp.397~406 (2022), 한국로봇학회[DOI]
- Michael Bloesch, "State Estimation for Legged Robots: Consistent Fusion of Leg Kinematics and IMU", Robotics, pp.17~24 (2013), The MIT Press[DOI]
- 정민국, "센서 융합을 통한 환경지도 기반의 강인한 전역 위치추정", 로봇학회 논문지, 9(2), pp.96~103 (2014), 한국로봇학회[DOI]
- Fabian Jenelten, "Dynamic Locomotion on Slippery Ground", IEEE Robotics and Automation Letters, 4(4), pp.4170~4176 (2019), Institute of Electrical and Electronics Engineers (IEEE)[DOI]
- Michele Focchi, "High-slope terrain locomotion for torque-controlled quadruped robots", Autonomous Robots, 41(1), pp.259~272 (2016), Springer Science and Business Media LLC[DOI]
- Marc H. Raibert, "Hopping in legged systems — Modeling and simulation for the two-dimensional one-legged case", IEEE Transactions on Systems, Man, and Cybernetics, SMC-14(3), pp.451~463 (1984), Institute of Electrical and Electronics Engineers (IEEE)[DOI]
- M. Ahmadi, "The ARL monopod II running robot: control and energetics", IEEE International Conference on Robotics and Automation (ICRA) (1999), IEEE
- Ioannis Poulakakis, "Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot", The International Journal of Robotics Research, 24(4), pp.239~256 (2005), SAGE Publications[DOI]
- Satoshi Kitano, "TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walking", ROBOMECH Journal, 3(1) (2016), Springer Science and Business Media LLC[DOI]
- Hui Chai, "A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach", Biomimetic Intelligence and Robotics, 2(1), pp.100029~ (2022), Elsevier BV[DOI]
- Teng Chen, "A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution", Journal of Bionic Engineering, 16(4), pp.621~632 (2019), Springer Science and Business Media LLC[DOI]
- Claudio Semini, "Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max", IEEE, 2017, pp.22(2), 635~646[DOI]
- Marco Hutter, "ANYmal - a highly mobile and dynamic quadrupedal robot", 2016 IEEE, 2016, ~[DOI]
- Benjamin Katz, "Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control", 2019 International Conference on Robotics and Automation (ICRA) (2019), IEEE
- Jared Di Carlo, "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control", 2018 IEEE, 2018, ~[DOI]
- Hans Joachim Ferreau, "qpOASES: a parametric active-set algorithm for quadratic programming", Mathematical Programming Computation, 6(4), pp.327~363 (2014), Springer Science and Business Media LLC[DOI]
- D. Kim, "Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control", Robotics (2019)[DOI]
- Guilherme Vaz Ferreira, "ANALYSIS OF THE MECHANICAL BEHAVIOR OF A COMPOSITE BLADE USED IN HYDROKINETIC TURBINES", 23rd ABCM International Congress of Mechanical Engineering (2015), ABCM Brazilian Society of Mechanical Sciences and Engineering