이족보행로봇의 걸음새 제어를 위한 지능형 학습 제어기의 구현

임동철(Dong-Cheol Lim),국태용(Tae-Yong Kuc) 대한전기학회 2010 전기학회논문지 P Vol.59 No.1

This paper presents an intelligent learning controller for repetitive walking motion of biped walking robot. The proposed learning controller consists of an iterative learning controller and a direct learning controller. In the iterative learning controller, the PID feedback controller takes part in stabilizing the learning control system while the feedforward learning controller plays a role in compensating for the nonlinearity of uncertain biped walking robot. In the direct learning controller, the desired learning input for new joint trajectories with different time scales from the learned ones is generated directly based on the previous learned input profiles obtained from the iterative learning process. The effectiveness and tracking performance of the proposed learning controller to biped robotic motion is shown by mathematical analysis and computer simulation with 12 DOF biped walking robot.

노인의 체질량지수와 체력에 따른 보행안정성의 변화

황은진,윤소미,이윤빈,이희진,이대택 한국웰니스학회 2019 한국웰니스학회지 Vol.14 No.1

This study aimed to investigate the influence of body mass index (BMI) and walking speed on postural control in the elderly. A total of 130 elderly (76.4 yrs) participated in the study. The subjects performed walking strength exercise for 12 weeks. Body mass index (BMI), fitness, walking speed, and dynamic postural control were measured. Based on their change of BMI, divided into two groups; BMI increased group (BIG), BMI decreased group (BDG). Based on their BMI, divided into three groups; normal weight, overweight, and obese. In addition, based on their walking speed, they were groups as; Slow (S), Average (A) and Fast (F). Chair Stand were significantly improved in the BIG than BDG(p<0.5). However, ENV, REC, TLC, and SV were not different between groups of BMI. When compared by walking speed, all postural parameters such as ENV, REC, TLC, and SV were not different among S, A, and F. When physical fitness variables were analyzed, no group differences by walking speed and BMI were noticed. The dynamic postural control during walking in elderly was not different when it was compared by groups of BMI and walking speed. Therefore, Capability of maintaining body balance in elderly population during locomotion may not be affected by their BMI or walking speed. 이 연구는 노인의 보행근력강화 운동프로그램 전·후 체질량지수(BMI)의 변화가 체력향상에 미치는 영향과 체질량지수와 보행속도에 따른 보행안정성에 미치는 영향을 알아보고자 하였다. 연구대상자는 S시에 거주하는 평균 76.4세 남녀노인 130명을 대상으로 하였다. 보행근력강화 운동프로그램을 12주간 실시하였고, 사전사후에 체질량지수, 체력, 보행속도, 보행안정성을 측정하였다. 운동참여 후 BMI변화에 따라 두 그룹(BMI Increased Group: BIG, BMI Decreased Group: BDG)으로 분류하여 운동전·후의 체력의 변화를 분석하였고, BMI에 따라 세 그룹(Normal weight, Overweight, Obese)으로 분류하고, 보행속도에 따라 세 그룹(Slow, Average, Fast)으로 분류하여 모두 보행안정성을 분석하였다. BIG그룹에서 의자 앉았다 일어서기(하지근력)가 BDG그룹 보다 유의하게 높아졌다(p<.05). 체중, 근육량, 체지방률, 2분 제자리 걷기, 244㎝ 왕복 걷기, 눈뜨고 외발서기에서는 두 그룹간의 유의한 차이가 나타나지 않았다. 보행안정성도 두 그룹간 차이가 나타나지 않았다. BMI 분류와 보행속도 분류에 따른 세 그룹 모두 보행안정성에 유의한 차이가 나타나지 않았다. 노인의 보행 중 보행안정성(압력중심의 흔들림의 정도)는 BMI와 보행속도의 그룹으로 비교했을 때 차이가 없었다. 따라서 이 연구에서는 보행 중에 노인 인구의 신체 균형을 유지하는 능력은 BMI 또는 보행속도에 의해 영향을 미치지 않았다.

지능형 제어기법 및 센서 인터페이스를 이용한 이족 보행 로봇의 동적보행 제어

高在源(Jaw-Won Kho),林東哲(Dong-Cheol Lim) 대한전기학회 2007 전기학회논문지 P Vol.56 No.4

This paper introduces a dynamic walking control of biped walking robot using intelligent sensor interface and shows an intelligent control method for biped walking robot. For the dynamic walking control of biped walking robot, serious motion controllers are used. They are main controlled using INTEL80C296SA MPU), sub controlled using TMS320LF2406 DSP), sensor controller(using Atmega128 MPU) etc. The used sensors are gyro sensor, tilt sensor, infrared sensor, FSR sensor etc. For the feasibility of a dynamic walking control of biped walking robot, we use the biped walking robot which has twenty-five degrees of freedom(D,O.F.) in total. Our biped robot is composed of two legs of six D.O.F. each. two arms of five D.O.F. each. a waist of two D.O.F., a head of one D.O.F.

직관적인 방법에 의한 평면형 2족 로봇의 보행

정구봉 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.1

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

Bio-inspired Decentralized Architecture for Walking of a 5-link Biped Robot with Compliant Knee Joints

Masoud Yazdani,Hassan Salarieh,Mahmoud Saadat Foumani 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.6

Animal walking is one of the most robust and adaptive locomotion mechanisms in the nature, involves sophisticated interactions between neural and biomechanical levels. It has been suggested that the coordination of this process is done in a hierarchy of levels. The lower layer contains autonomous interactions between muscles and spinal cord and the higher layer (e.g. the brain cortex) interferes when needed. Inspiringly, in this study we present a hierarchical control architecture with a state of the art intrinsic online learning mechanism for a dynamicallywalking 5-link biped robot with compliant knee joints. As the biological counterpart, the system is controlled by independent control units for each joint at the lower layer. In order to stabilize the system, these units are driven by a sensory feedback from the posture of the robot. A central stabilizing controller at the upper layer arises in case of failing the units to stabilize the system. Consequently, the units adapt themselves by including online learning mechanism. We show that using this architecture, a highly unstable system can be stabilized with identicalsimple controller units even though they do not have any feedback from all other units of the robot. Moreover, this architecture may help to better understand the complex motor tasks in human.

Walking Control of a Compass-like Biped Robot with a Constraint Mechanism

Hodaka Kato,Toshiyuki Ohtsuka 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

We call such a model consists of two rigid rods connected by a frictionless hinge at the hip, a compass-like model. In this paper, we consider a compass-like model in order to analyze biped robot motion. We are trying to control gait of the model, by inputing torque to the hinge of the hip, and show that the maximal torque input can be reduced by using a mechanism to constrain the angle of the hip hinge.

동역학 모델링을 통한 하지절단 장애인 의족 보행제어 알고리즘 기초 연구

강성재(S. J. Kang),김규석(G. S. Kim),류제청(J. C. Ryu) 한국정밀공학회 2018 한국정밀공학회 학술발표대회 논문집 Vol.2018 No.5월

이족 보행로봇의 동적 보행 제어에 관한 연구

심병균(Byoung-Kyun Shim),정양근(Yang-Keun Jeong),심현석(Hyun-Seok Shim),이우송(Woo-Song Lee) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.4

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.