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유전자 알고리즘과 학습제어를 이용한 이족보행 로봇의 지능 제어기 구현
高在源(Jaw-Won Kho),林東哲(Dong-Cheol Lim) 대한전기학회 2006 전기학회논문지 P Vol.55 No.2
This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of the biped robot's links using Genetic Algorithm. This paper presents a learning controller for repetitive gait control of the biped robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to the biped robotic motion is shown via computer simulation and experimental results with 24 DOF biped walking robot.
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.
Real-Time OS 기반의 로봇 매니퓰레이터 동력학 제어기의 구현 및 성능평가
高在源(Jaw-Won Kho),林東哲(Dong-Cheol Lim) 대한전기학회 2008 전기학회논문지 P Vol.57 No.2
In this paper, a dynamic learning controller for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The controller hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested and evaluated for tracking of the desired trajectory and compared with the conventional servo controller.