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인간 관절 에너지 분석을 통한 이족로봇의 자연스러운 보행 제어
하승석(Seungsuk Ha),한영준(Youngjoon Han),한헌수(Hernsoo Hahn) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.2
This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human"s gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human"s gait pattern, sequential images of the human"s gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human"s gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained, as proved by the experiments.