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Development of a Quadruped Robot for Participation in the Dronebot Challenge
안동현(DongHyun Ahn),김현석(HyeonSeok Kim),김건오(GeonO Kim),윤성준(SungJoon Yoon),전호진(HoJin Jeon),김승준(SeungJun Kim),남궁준연(Junyeon Namgung),홍승표(SeungPyo Hong),이재순(JaeSoon Lee),조백규(Baek-Kyu Cho) Korean Society for Precision Engineering 2021 한국정밀공학회지 Vol.38 No.10
This paper introduces PongBot, a quadruped robot developed for preparation in the Dronebot Challenge held in Jangseonggun, Jeollanam-Do, South Korea in November 2020. The Dronebot Challenge, hosted by the Army Headquarters, is a competition to demonstrate that drones and robots can be useful for military purposes. In 2020, this competition consisted of a total of 8 events and we participated in the ‘Traveling on rough terrain’ event, which consisted of various terrains, such as, slopes, unpaved roads, and streams. PongBot is a quadruped robot that uses an electric motor and can walk for more than an hour on various terrains. Also, according to the rules of the competition, the robot had a system which could be remotely controlled from a ground control station. In addition, by applying the SLAM algorithm, the robot operator received information about its surrounding environment, thereby deriving records to facilitate the operation. The performance of this robot system and SLAM algorithm was verified through this competition.
DRC Finals 2015에서 휴머노이드 로봇의 자동차 운전과 하차에 관한 전략
안동현(DongHyun Ahn),신주성(JuSeong Shin),전용범(Youngbum Jun),손기원(Kiwon Sohn),장기호(Giho Jang),폴오(Paul Oh),조백규(Baek-Kyu Cho) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.11
This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator’s commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.