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Kunhee Ryu,Jehwi Yoo,Juhoon Back,Ill-Woo Park 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.9
In this paper, we propose a method for generating the center-of-mass (CoM) pattern for biped robots. One of the most common methods for CoM pattern generation is to approximate the robot’s complex dynamics as alinear inverted pendulum model, applies preview controls, and generates CoM trajectories. However, the vertical motion of CoM is neglected during this approximation process. In this study, we formulate the preview control problem considering the dynamics of the CoM vertical motion and propose an algorithm to solve it. The results of numerical experiments to evaluate the proposed algorithm show it is more stable than the existing algorithm and can be sufficiently fast for online operation.
입력 외란이 존재하는 다개체 모바일 로봇군집의 회전을 고려한 대형제어
류건희(Kunhee Ryu),이국선(Kooksun Lee),김덕진(Deokjin Kim),이상용(Sangyong Lee),백주훈(Juhoon Back) 대한전기학회 2014 정보 및 제어 심포지엄 논문집 Vol.2014 No.10
This paper deals with multi agent system and aims achieving formation control that concerns rotation of formation among school of multi mobile robots with individual input disturbance, which uses coordinated tracking controller and rotation matrix. The performance of proposed controller was evaluated via numerical simulation.