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모델예측제어를 이용한 이족 보행 로봇의 Stand-Up 모션 제어
허성용(Seong-Yong Hur),김다윗(David Kim),경윤진(Yun-Jin Kyung),최동일(Dong-Il Choi) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
This paper proposes a method to model a robot as a inverted pendulum system of a time-variant system and apply model predictive control to control the standing motion of a bipedal robot stably. The robot used a 12-DoF bipedal robot and modeled the behavior of standing up on two feet on a flat surface as a point mass with a link structure without mass. Model predictive control was applied to stably control the modeled inverted pendulum. As a result of simulating the model predictive control with the do-mpc library, the inverted pendulum was stably controlled, and based on this, the robots joint angle was calculated by solving the robots inverse kinematics. As a result of Gazebo simulation using the calculated joint angle, it was confirmed that the robot was stably controlled and was almost consistent with the do-mpc simulation result, and the performance of the algorithm was verified.
모델예측제어를 이용한 이족 보행 로봇의 Stand-Up 모션 제어
허성용(Seong-Yong Hur),김다윗(David Kim),경윤진(Yun-Jin Kyung),최동일(Dong-Il Choi) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
This paper proposes a method to model a robot as a inverted pendulum system of a time-variant system and apply model predictive control to control the standing motion of a bipedal robot stably. The robot used a 12-DoF bipedal robot and modeled the behavior of standing up on two feet on a flat surface as a point mass with a link structure without mass. Model predictive control was applied to stably control the modeled inverted pendulum. As a result of simulating the model predictive control with the do-mpc library, the inverted pendulum was stably controlled, and based on this, the robots joint angle was calculated by solving the robots inverse kinematics. As a result of Gazebo simulation using the calculated joint angle, it was confirmed that the robot was stably controlled and was almost consistent with the do-mpc simulation result, and the performance of the algorithm was verified.
비선형 최적화 기법을 활용한 3K형 유성 감속기의 효율 최적설계
신승철(Seung Chul Shin),허성용(Seong Yong Hur),최동일(Dongil Choi) 대한기계학회 2022 大韓機械學會論文集A Vol.46 No.2
복합기어 유성 감속기는 높은 역 구동성과 동력 전달 효율을 유지하여 간단한 구조에서 높은 감속비를 낼 수 있는 장점이 있다. 본 논문에서는 비선형 최적화 기법의 일종인 SLSQP(sequential least squares programming) 기법을 통해 감속기의 파라미터 설계 문제를 다변수입력을 받아 목표함수의 최적해를 찾는 일반적인 최적화 문제로 변형하였다. SLSQP 기법은 유성 마찰차에 장점을 보이며 기어 모듈값이 설계 파라미터로 지정된 경우에 대해서는 사용이 불가능하였다. 이에 기어의 모듈값을 기반으로 최적화를 진행하여 3K형 유성 감속기의 최적 파라미터를 도출하였다. 결과적으로 GUI 기반의 최적 설계 프로그램을 제작하여 보다 쉽게 사용 가능하도록 하였다. The compound gear planetary reducer has the advantage of maintaining high back drive mobility and power transmission efficiency to produce high deceleration ratios in simple structures. In this study, the parameter design problem of the reducer was transformed into a general optimization problem to obtain an optimal solution using the sequential least squares programming (SLSQP) technique, a nonlinear optimization technique. However, the SLSQP method showed advantages only in planetary friction drives. Thus, the optimization was performed based on the module value of the gear to derive optimal parameters of the 3K-type planetary reducer. An optimal design program based on the graphical user interface was developed to simplify its use.
CMG Unicycle-Legged Robot의 개발과 Decoupled 최적제어
신승철(Seung Chul Shin),허성용(Seong Yong Hur),양요셉(Yo Seph Yang),최동일(Dong Il Choi) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
The wheeled-legged robot has excellent stable flat driving and ability to overcome obstacles. However, when faced with a narrow footprint, there is a limit to the ability to move. To solve this problem, we developed a CMG (control moment gyroscope) unicycle robot. A scissored pair of CMG was applied to control the roll direction balance, and the pitch direction balance was controlled assuming that the robot was a double inverted pendulum. In a system where the control systems in the roll direction and the pitch direction were decoupled, LQR and MPC optimal control were performed, and the performance of these controllers was verified as gazebo simulator.