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Seongil Hong,Gyuhyun Park,Wonsuk Lee,Sincheon Kang 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
We focus on the realization of the hierarchical inverse kinematics as a practical means of a hard real-time motion planning for a humanoid robot. To achieve complex on-line full body manipulation performance, a task priority is established among the tasks to precisely resolve task conflicts and all algorithms are described in recursive equations so as to minimize computation time. Formulating the kinematic problem in a least-square optimization enables us to derive solutions in a unified and consistent framework. The performance is validated through numerical simulations with bearing mind of rescue robot applications and finally, the inverse kinematic solution is found within 0:3msec on average for 19 degrees of freedom control.
Kinematic Algorithms and Robust Controller Design for Inertially Stabilized System
Seongil Hong,Ki Dae Cho IEEE 2014 IEEE/ASME transactions on mechatronics Vol.19 No.1
<P>This paper describes a controller design method for the inertially stabilized system of a tracking radar. Its aim is to track a reference target trajectory with high accuracy while isolating rigid body rotational motions of a host ship. First, we investigate the trajectory generation problem to make the control input for a target tracking on the moving base. Second, dynamic equations of motion are formulated by the spring-mass-damper system to include rigid body dynamics as well as structural flexibility. The unknown parameters of dynamic equations are estimated with experimental input and output data by minimizing a predicted error. Third, mixed sensitivity H<SUB>∞</SUB> robust controllers are designed to meet the conflict requirements of robustness and performance in the face of uncertainty. Finally, the proposed optimal controllers demonstrate the effectiveness of design methodology, and show high performance by numerical and experimental results.</P>
Development of a Tele-Operated Rescue Robot for a Disaster Response
Hong, Seongil,Park, Gyuhyun,Lee, Youngwoo,Lee, Wonsuk,Choi, Byunghun,Sim, Okkee,Oh, Jun-Ho World Scientific Publishing Company 2018 INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS Vol.15 No.4
<P>This paper proposes practical hardware design strategies and control methods for a rescue robot to save patients in disastrous environments. None of the existing humanoid robots have not shown the capability to efficiently execute rescue tasks for transferring a human to a safe place in a highly unstructured world. To resolve this problem a new form of powerful dual arm mechanism and hybrid tracked-legged mobile platform is developed and the motion is synthesized with dynamics based optimization and a modified hierarchical control scheme. These new design and control policies enable us to simultaneously enhance the manipulation performance and driving stability which have been verified through both in extensive numerical simulations and physical experiments where the rescue robot and whole-body control are indeed required.</P>
Kinematic Control Algorithms and Robust Controller Design for Rescue Robot
Seongil Hong,Won Suk Lee,Youn Sik Kang,Yong Woon Park 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper introduces the Korean rescue robot and presents the kinematic and dynamic control method. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility for the rescue and assistance in the battlefields, hospitals, hazardous and disastrous environments. In order for robots to rescue and assist humans in various environments, reliable mobility and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulators and two types of grippers. The electric actuators provide manipulator compliance and the strength to lift wounded soldiers up to 120kg by virtue of whole body joints. For controlling the robot’s high degree of freedom efficiently, complex whole body behaviors are synthesized and multi level hierarchy is used to integrate multiple task primitives without confliction. Moreover, the robot should have an ability to cope with large payload variation from 0kg to 120kg, robust PID controllers are utilized. They afford extended disturbance input to state stability, H∞ performance and controller tuning laws. We are to demonstrate the effectiveness of kinematic control algorithms and robust PID controllers through numerical simulations.
구조/구난 임무 수행을 위한 실험용 휴머노이드 로봇의 개발과 동역학 기반의 모션 최적화
홍성일(Seongil Hong),이영우(Youngwoo Lee),박규현(Kyu Hyun Park),이원석(Won Suk Lee),심옥기(Okkee Sim),오준호(Jun-Ho Oh) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.
홍성일(Seongil Hong),박규현(Gyuhyun Park),이영우(Youngwoo Lee),이원석(Wonsuk Lee),최병훈(Byunghun Choi),강신천(Sincheon Kang) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.12
We introduce to a humanoid rescue robot that is designed to have a large load carrying capacity. The robot’s goal is to lift and transfer patients or soldiers with impaired mobility for rescue and assistance on the battlefield or degraded human engineered environments. The other goal is to dispose of and move dangerous objects or explosive ordnance. The rescue robot is designed to have dual arm manipulators and a hybrid tracked and legged mobile platform to execute this kind of task. Real time closed loop inverse kinematics and dynamics-based motion optimization enables the effective performance of rescue tasks. The mechanical design and control algorithms are explained and the effectiveness is demonstrated in physical experiments with the humanoid rescue robot HURCULES.
고속의 계층적 역기구학을 통한 휴머노이드 구조 로봇의 실시간 전신 동작 생성
홍성일(Seongil Hong),박규현(Gyuhyun Park),이원석(Wonsuk Lee),강신천(Sincheon Kang) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.11
A new hardware design for a rescue robot is proposed to enhance manipulation capability and mobility performance in an unstructured environment. The implementation of fast hierarchical inverse kinematics as a practical means of hard-real-time motion planning for a humanoid rescue robot is also considered. To achieve online full body dexterous manipulation performance, a hierarchical task priority is established among the motion tasks (or primitives) to precisely resolve task conflicts. Full body inverse kinematic solutions are derived in the recursive form by exploiting the previously calculated result of the higher priority task. This allows the current level step solution to be obtained for the lower priority motion task, enhancing computational efficiency. The least-squares optimization formulation provides theoretical and practical solutions in a unified and consistent manner. Realistic numerical simulations to generate complex full body motions in hard real-time demonstrate the effectiveness and performance of the design. Inverse kinematic solutions are found within 0.2 msec and 0.4 msec (on average) for 13 and 19 degrees of freedom control, respectively.
An Error Bound for Simpson's Quadrature
Hong, Bum Il,Park, Seongil 경희대학교 자연과학종합연구원 1999 자연과학논문집 Vol.5 No.-
일반적으로 수치적분에서 Worst case setting을 이용하여 오차 계산을 하지만 본 연구는 probabilistic case setting을 이용하여 심슨 공식의 오차를 γ≤5 경우 conditional variance를 이용하여 det(C)/σ_(Y)=Θ(h^(2γ+2))임을 보인다. In general, the worst case setting is mainly used for the error estimate in the numerical integration. In this study, we use the probabilistic setting for an error estimate for Simpson's quadrature and show that for r≤5 and subintervals of equal length, the conditional variance of X, given Y=y, is det(C)/σ_(Y) = θ(h^(2r+2)).