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구조/구난 임무 수행을 위한 실험용 휴머노이드 로봇의 개발과 동역학 기반의 모션 최적화
홍성일,이영우,박규현,이원석,심옥기,오준호,Hong, Seongil,Lee, Youngwoo,Park, Kyu Hyun,Lee, Won Suk,Sim, Okkee,Oh, Jun-Ho 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.8
This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.
홍성일,이원석,강신천,강윤식,박용운,Hong, Seongil,Lee, Won Suk,Kang, Sin Cheon,Kang, Youn Sik,Park, Yong Woon 한국군사과학기술학회 2014 한국군사과학기술학회지 Vol.17 No.6
This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.
구조/구난 임무 수행을 위한 실험용 휴머노이드 로봇의 개발과 동역학 기반의 모션 최적화
홍성일(Seongil Hong),이영우(Youngwoo Lee),박규현(Kyu Hyun Park),이원석(Won Suk Lee),심옥기(Okkee Sim),오준호(Jun-Ho Oh) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.
고속의 계층적 역기구학을 통한 휴머노이드 구조 로봇의 실시간 전신 동작 생성
홍성일(Seongil Hong),박규현(Gyuhyun Park),이원석(Wonsuk Lee),강신천(Sincheon Kang) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.11
A new hardware design for a rescue robot is proposed to enhance manipulation capability and mobility performance in an unstructured environment. The implementation of fast hierarchical inverse kinematics as a practical means of hard-real-time motion planning for a humanoid rescue robot is also considered. To achieve online full body dexterous manipulation performance, a hierarchical task priority is established among the motion tasks (or primitives) to precisely resolve task conflicts. Full body inverse kinematic solutions are derived in the recursive form by exploiting the previously calculated result of the higher priority task. This allows the current level step solution to be obtained for the lower priority motion task, enhancing computational efficiency. The least-squares optimization formulation provides theoretical and practical solutions in a unified and consistent manner. Realistic numerical simulations to generate complex full body motions in hard real-time demonstrate the effectiveness and performance of the design. Inverse kinematic solutions are found within 0.2 msec and 0.4 msec (on average) for 13 and 19 degrees of freedom control, respectively.
홍성일(Seongil Hong),박규현(Gyuhyun Park),이영우(Youngwoo Lee),이원석(Wonsuk Lee),최병훈(Byunghun Choi),강신천(Sincheon Kang) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.12
We introduce to a humanoid rescue robot that is designed to have a large load carrying capacity. The robot’s goal is to lift and transfer patients or soldiers with impaired mobility for rescue and assistance on the battlefield or degraded human engineered environments. The other goal is to dispose of and move dangerous objects or explosive ordnance. The rescue robot is designed to have dual arm manipulators and a hybrid tracked and legged mobile platform to execute this kind of task. Real time closed loop inverse kinematics and dynamics-based motion optimization enables the effective performance of rescue tasks. The mechanical design and control algorithms are explained and the effectiveness is demonstrated in physical experiments with the humanoid rescue robot HURCULES.
보완 골격 알고리듬을 이용한 구난로봇의 자체 충돌감지/회피
이원석,홍성일,박규현,강윤식,Lee, Wonsuk,Hong, Seongil,Park, Gyuhyun,Kang, Younsik 한국군사과학기술학회 2015 한국군사과학기술학회지 Vol.18 No.4
This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary robot parts should be monitored in real-time. For the minimum distance estimation, we suggest a modified method from a previous skeleton algorithm which has less computation burden and realize collision avoidance based on a potential function using the proposed algorithm. The resultant command by collision avoidance should not disturb a given primary task, so null-space of joint solution from a CLIK is utilized for collision avoidance by a gradient projection method.
박철휴(Chulhue Park),홍성일(Seongil Hong),박현철(Hyunchul Park) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.4
The performance of a mixed H<SUB>∞</SUB> / H₂ design with pole placement constraints based on robust vibration control for a piezo/beam system is investigated. The governing equation of motion for the piezo/beam system is derived by Hamilton’s principle. The assumed mode method is used to discretize the governing equation into a set of ordinary differential equation. A robust controller is designed by H<SUB>∞</SUB> / H₂ feedback control law that satisfies additional constraints on the closed-loop pole location in the face of model uncertainties, which are derived for a general class of convex regions of the complex plane. These constraints are expressed in terms of linear matrix inequalities (LMIs) approach for the multiobjective synthesis. The validity and applicability of this approach for vibration suppressions of SMART structural systems are discussed by damping out the multiple vibrational modes of the piezo/beam system.