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가변 샘플링 시간 모델 예측 제어(MPC)를 기반으로 계단 등반 로봇 MOBINN
김건오(Geono Kim),조백규(Baek-Kyu Cho) 국방로봇학회 2024 국방로봇학회 논문집 Vol.3 No.2
This paper presents an innovative approach to enhance stair climbing capabilities in mobile robots, focusing on MOBINN, a two-wheeled balancing robot designed for both indoor and outdoor environments. Given the increasing demand for robots capable of navigating complex terrains, including stairs, we introduce a novel control strategy that employs a Variable Sampling Time Model Predictive Control (MPC) framework. This methodology optimizes the robots performance by adjusting the sampling time dynamically, based on the stair information anticipated by the robots sensors. Through precise balance control and efficient torque generation, MOBINN can adapt to various stair dimensions and conditions, overcoming the limitations of conventional wheeled robots. The paper details the development of the control framework, including the dynamics of stair climbing, formulation of the variable sampling time Model Predictive Control (MPC), and experimental validation. Results demonstrate MOBINNs enhanced stair climbing efficiency and stability, showcasing the potential of variable sampling time MPC in robotic mobility applications. This study contributes to the field by providing a scalable solution for robots navigating staircases, a critical challenge in urban and domestic environments.
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