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증가된 자코비안 해석방법을 이용한 2족 보행로봇의 잉여 궤적 생성
연제성(Je Sung Yeon),박건우(Goun-Woo Park),박종현(Jong Hyeon Park) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
Analyzing a biped robot as a redundancy system is more useful for the change of walking speed and direction. Thus this paper proposes the redundancy trajectory generation method for biped robot with some conditions. One is the most important stability condition ZMP for biped robot, another is the joint limitation for a cyclicity motion, and the other is the damped least-square solution to overcome joint singularity. The augmented Jacobian method are used at the acceleration level to guarantee the minimum motion factor and the stability condition. And joint limitations and damping factors are reflected as an additional task at null space component. As a consequence, we can get the joint trajectories in the reasonable boundary and achieve the stable biped walking motion.
연제성(Je Sung Yeon),박종현(Jong Hyeon Park) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
Human-like biped robot is a representative multi-links manipulator and undoubted redundancy system. However many researchers separate biped robot into each limb and analyze the members individually for the convenience analysis. This approach is not desirable for natural trajectory generation and energy optimization. This paper proposes the analysis method considering both legs together and the weighted pseudoinverse optimizing energy consumption.
연제성(Je Sung Yeon),김성진(Sung Jin Kim),김승현(Seung Hyun Kim),박태규(Tae Gyu Park) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
One of the important factors that determine the speed of the press line for producing internal/exterior materials of an automobile is a feeding manipulator for transferring the sheet material between one press and the other press. In this paper, it is intended for the development of a feeding manipulator of a single-arm-type structure to transfer the material plate at high speed in a tandem press line spotlighted as the next generation of the press. This transfer device has the seven motors for implementing the rotation motion and the translation motion of the five degrees of freedom. And, it has two additional motors to make a side shift of the tool. Tandem-press feeder that has been developed is capable of high-speed operation of 18SPM, and it has a good repeatability and stable operating ability with less vibration when it load and unload a material plate.
연제성(Je Sung Yeon),박종현(Jong Hyeon Park) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.10
A biped robot in locomotion can be regarded to be kinetically redundant in that the link-chain from its foot on the ground to its swing foot has more degrees of freedom that needed to realize stable bipedal locomotion. This paper proposes a new method to generate a trajectory for bipedal locomotion based on this redundancy, which directly generates a locomotion trajectory at the joint level unlike some other methods such as LIPM (linear inverted-pendulum mode) and GCIPM (gravity-compensated inverted-pendulum mode), each of which generates a trajectory of the center of gravity or the hip link under the assumption of the dominance of the hip-link inertia before generating the trajectory of the whole links at the joint level. For the stability of the trajectory generated in the proposed method, a stability condition based on the ZMP (zero-moment point) is used as a constraint as well as other kinetic constraints for bipedal motions. A 6-DOF biped robot is used to show how a stable locomotion trajectory can be generated in the sagittal plane by the proposed method and to demonstrate the feasibility of the proposed method.
생활쓰레기 매립지 침출수 재순환을 통한 친환경 매립장 구현
연제성 ( Je Sung Yeon ),김영규 ( Young Kyu Kim ),이진형 ( Jin Heang Lee ),원종철 ( Jong Choul Won ) 한국폐기물자원순환학회(구 한국폐기물학회) 2021 한국폐기물자원순환학회 춘계학술발표논문집 Vol.2021 No.-
국내에서 발생되는 폐기물의 일부는 소각되지만 나머지 대부분은 매립장으로 이송되어 매립된다. 이렇게 폐기물이 매립된 매립장은 매립완료 후 20년, 30년 혹은 그 이상의 매우 장기간에 걸쳐 지반침하, 침출수 처리, 발생가스 관리 등 사후관리를 하여야 함에 따라 그에 따른 시간과 비용이 매우 많이 소비되고 있는 실정이다. 또한 음식물쓰레기 분리매립 등으로 인하여 매립장 내부가 더욱 건조한 상태로 유지되었고 매립장의 안정화 속도 또한 더욱 저하되어 현 폐기물관리법에서 정하고 있는 사후관리기간 30년이 경과되더라도 지속하여 관리하여야 하는 상황이 예측됨에 따라 수도권매립지관리공사에서는 매립장에서 발생하는 침출수를 매립장 내부로 재순환하여 수분을 공급하는 방식으로 매립장 내부 함수율을 적정 유지함으로써 사용종료 매립장의 조기 안정화 방안을 모색하였다. 수도권매립지관리공사에서는 매립장에서 발생되는 침출수를 다시 매립장으로 순환 주입하는 ‘환원정화설비 실증연구사업’을 약 7년간 추진하였고, 그 결과 매립장의 조기안정화, 매립가스 증산을 통한 발전수익 증대, 침출수 처리 비용 절감, 침출수 처리수 무방류 등의 효과를 입증했고 이를 토대로 수도권매립지 제 매립장에 적용하여 운영 중이다. 이에 본 연구는 환원정화설비 실증 실험 및 본 시설 운영에서 축적된 표준 운영 자료를 제시하고 이를 통해 침출수 처리 패러다임의 변화를 도모하고자 한다.
류제두(Je Doo Ryu),연제성(Je Sung Yeon),박종현(Jong Hyeon Park) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
Central Pattern Generator (CPG) developed from nervous system is used for a trajectory generation method of periodic motion of biped robot. When the CPG is applied to the robot, the gains of oscillator have to be changed whenever moving conditions are changed such as speed. To solve this problem, hierarchical CPG model is proposed in this paper. It consists of Slave Oscillator (SO), Master Oscillator (MO), and User’s Command (UC). SOs generate each joint trajectory and MO controls frequency and amplitude of SOs. UC can control MO to start, end, and change of all motion like velocity. The generated joint trajectory by SO is changed by effect of high command like UC or MO. Therefore proposed CPG can be easily use to a robot because effect of 게인 s is decreased to generate joint trajectory, even if walking conditions of the robot are changed. To prove that, a planar biped robot was simulated to walk by using proposed CPG model.
바이페드 로봇의 경사면 전방향 보행을 위한 궤적 생성 방법
황성욱(Sung Wook Hwang),조재욱(Jae Uk Cho),연제성(Je Sung Yeon),박종현(Jong Hyeon Park) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
In this paper, the trajectory generation method to make the biped robot walk in every direction on the sloping surface is proposed. In order to simplify the biped robot, the robot is assumed to be one particle, and reference coordinate is established to generate stable trajectory of biped robot on the sloping surface and towards direction of locomotion appropriately. The moment equation based on reference coordinate is set up and is used to generate trajectory of sagittal plane and lateral plane. Since this trajectory generation method considers direction of robot locomotion and angle of inclination, it makes the biped robot walk on the sloping surface stably. Biped robot can walk on the sloping surface by using proposed method without any control algorithm. The effectiveness of proposed method was proved by using computer simulation.
4 족 로봇의 안정적인 갤로핑을 위한 실시간 타원궤적 생성
김경용(Kyeong Yong Kim),연제성(Je Sung Yeon),박종현(Jong Hyeon Park) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
For running, a legged robot is approximated into the spring loaded inverted pendulum and its CG(center of gravity) trajectory is obtained from ball on the rebound. However, its swinging and supporting leg motion are important to run stably. In previous works, the trajectories deviate from the workspace of legs and make the robots unstable. In this paper, we propose an elliptic trajectory generation method for legged robots to generate stable running motion trajectory. Elliptic trajectory enable robot to modify each angle and angular velocity of legs at touchdown and take-off according to the running speed. To check the performance and effectiveness, a series of galloping computer simulation with a 2-legged robot in the sagittal plane are performed. These simulation results show that the proposed generation method is effective for galloping locomotion.
하태준(Tae-Jun Ha),연제성(Je Sung Yeon),박종현(Jong Hyeon Park),손승우(Seung-Woo Son),이상훈(Sang-Hun Lee) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
Uncertain dynamic parameters and joint flexibility have been problem to control robot manipulator precisely. Hence, even if the controller tracks the desired trajectory well with the feedback of the motor encoders, it is hard to achieve the desired behavior at the end-effector. In this paper, robot trajectory is taught by a general heuristic iterative learning control (ILC) algorithm in order to reduce tracking error of the tool center point (TCP) and the results of tracking with 6 DOF industrial robot manipulator are presented. The performance is verified based on ISO 9283.
유전자 알고리즘을 이용한 인간형 로봇의 최적화 계단 보행 궤적 생성
임인식(In-Sik Lim),연제성(Je-Sung Yeon),권오흥(Ohung Kwon),박종현(Jong-Hyeon Park) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
This paper presents a new method to generate dynamically stable trajectories for humanoids to walk up stairs. Seven key factors in locomotion up stairs are identified from the motion-captured data of human locomotion. This enables us to generate an ascending-stair trajectory of the robot similar to that of human beings. In addition, a real-coded genetic algorithm is employed to modify the ascending-stair trajectory for further optimization. The effects of the simulation parameters on the locomotion trajectory were also analyzed. Computer simulations of robot locomotion were performed based on a 12-DOF biped robot model and a commercial simulation software, RecurDyn<SUP>®</SUP>. The proposed method exhibits its efficiency in quickly finding an optimal trajectory, which is due to not only the nature of genetic algorithms but also a small number of design variables employed. Thus, this makes it possible to generate various locomotion trajectories of biped robots simply by appropriately changing some of the boundary conditions.