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Optimal Standing Jump Trajectory Generation for Biped Robots
DongHyun Ahn,Baek-Kyu Cho 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.8
One of the disadvantages of biped robots is the slow movement. Jumping or running can be the solution to this. This paper describes an optimal jump trajectory generation method for biped robots. In order to conveniently create a jumping trajectory, the center of mass trajectory of the robot was divided into vertical and horizontal directions. The vertical trajectory was designed to maintain the desired flight time by considering a capacity of a actuator and the impact force at landing. The horizontal trajectory was designed to conform to the desired horizontal COM velocity at takeoff while maintaining the desired zero moment point by using preview control. We also considered the friction force between the robot and the ground and the region of motion of the robot. This process was defined as a nonlinear optimization problem, and the optimal jump trajectory was obtained. The trajectory was verified by simulation and standing jump experiment of an actual humanoid robot.
DRC Finals 2015에서 휴머노이드 로봇의 자동차 운전과 하차에 관한 전략
안동현(DongHyun Ahn),신주성(JuSeong Shin),전용범(Youngbum Jun),손기원(Kiwon Sohn),장기호(Giho Jang),폴오(Paul Oh),조백규(Baek-Kyu Cho) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.11
This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator’s commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.
Development of a Quadruped Robot for Participation in the Dronebot Challenge
안동현(DongHyun Ahn),김현석(HyeonSeok Kim),김건오(GeonO Kim),윤성준(SungJoon Yoon),전호진(HoJin Jeon),김승준(SeungJun Kim),남궁준연(Junyeon Namgung),홍승표(SeungPyo Hong),이재순(JaeSoon Lee),조백규(Baek-Kyu Cho) Korean Society for Precision Engineering 2021 한국정밀공학회지 Vol.38 No.10
3차원 낸드 플래시 공정에서 발생하는 기계적 스트레스의 정량 분석을 통한 성능 개선 방법
김동현(Donghyun Kim),남기훈(Kihoon Nam),박찬양(Chanyang Park),유현서(Hyunseo You),박민상(Min Sang Park),백록현(Rock-Hyun Baek) 대한전자공학회 2023 대한전자공학회 학술대회 Vol.2023 No.6
본 연구에서는 3D NAND flash 메모리에서 Stacked Memory Array Transistor (SMArT)와 Terabit Cell Array Transistor (TCAT)의 공정 순서와 소자 구조에 따른 mechanical stress와 전기적 특성 간의 상관관계를 분석했다. Poly-Si 보다 Al₂O₃가 먼저 증착 되는 SMArT는 Coefficient of Thermal Expansion (CTE)이 상대적으로 낮은 tungsten (W)에 의한 channel stress 변화폭이 CTE가 높은 Al₂O₃에 비해 크게 나타나는 반면, Al₂O₃가 poly-Si 보다 나중에 증착 되는 TCAT은 Al₂O₃에 의한 channel stress 변화폭이 W보다 더 크게 나타났다. 이는 channel stress를 조절하기 위해서 물질의 CTE와 공정 순서를 모두 고려해야 함을 의미한다. 또한, 서로 인접한 W gate 사이의 물질 (SiO₂ 또는 Al₂O₃/Si₃N₄/SiO₂)로 인한 소자구조의 차이로 인해 W의 deposition temperature (TD)에 의한 channel stress의 경향성이 변화했다. 이때, channel의 tensile stress가 증가하면 전기적 특성인 on-current가 증가하는데, SMArT는 Al₂O₃의 TD가 증가할 때와 W가 감소할 때 on-current가 증가한 반면, TCAT은 Al₂O₃와 W의 TD가 증가할 때 on-current가 증가했다. 또한, 각 물질들의 TD를 channel의 tensile stress가 가장 높도록 공정했을 때, SMArT와 TCAT의 on-current는 각각 7.62%, 8.15%로 적지 않은 성능 증가를 보였다.