지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.12
- 수록면
- 301 - 307 (7page)
이용수
초록· 키워드
오류제보하기
Based on the stability criteria of ZMP (Zero Moment Point), this paper proposes an adjusting algorithm that modifies walking trajectory of a bipedal robot for stable walking by analyzing ZMP trajectory of it. In order to maintain walking balance of the bipedal robot, ZMP should be located within a supporting polygon that is determined by the foot supporting area with stability margin. Initially tilting imposed to the trajectory of the upper body is proposed to transfer ZMP of the given walking trajectory into the stable region for the minimum stability. A neural network method is also proposed for the stable walking trajectory of the biped robot. It uses backpropagation learning with angles and angular velocities of all joints with tilting to get the improved walking trajectory. By applying the optimized walking trajectory that is obtained with the neural network model, the ZMP trajectory of the bipedal robot is certainly located within a stable area of the supporting polygon. Experimental results show that the optimally learned trajectory with neural network gives more stability even though the tilting of the pelvic joint has a great role for walking stability.
목차
Abstract
1. 서론
2. System Setup
3. 안정한 보행 기본 알고리즘
4. 실험 및 실험 결과
5. 결론
참고문헌
참고문헌 (8)
참고문헌 신청
1. [학술지(정기간행물)] - R. B. McGhee / 1968 / On the stability properties of quadruped creeping gaits / Mathematical Biosciences 3 : 331 ~ 351
2. [학술지(정기간행물)] - M. Vukobratovic / 2004 / Contribution to the dynamic study of humanoid robots interacting with dynamic environment / Robotica 22 : 439 ~ 447
3. [단행본] - O. L. Vele / 2005 / Cinematica inversa de un robot bipedo / Cuenca-Ecuador
4. [학술대회논문] - J. H. Park / 1998 / ZMP trajectory generation for reduced trunk motions of biped robot / IEEE International Conference on Robotics and Automation : 189 ~ 203
5. [학술지(정기간행물)] - 김민수 / 2008 / LMS 알고리즘을 이용한 RF 중계기의 궤환 간섭신호 제거 시스템(Interference Cancellation System) / 전자공학회논문지 - IE 45 (1) : 38 ~ 43
2. [학술지(정기간행물)] - M. Vukobratovic / 2004 / Contribution to the dynamic study of humanoid robots interacting with dynamic environment / Robotica 22 : 439 ~ 447
3. [단행본] - O. L. Vele / 2005 / Cinematica inversa de un robot bipedo / Cuenca-Ecuador
4. [학술대회논문] - J. H. Park / 1998 / ZMP trajectory generation for reduced trunk motions of biped robot / IEEE International Conference on Robotics and Automation : 189 ~ 203
5. [학술지(정기간행물)] - 김민수 / 2008 / LMS 알고리즘을 이용한 RF 중계기의 궤환 간섭신호 제거 시스템(Interference Cancellation System) / 전자공학회논문지 - IE 45 (1) : 38 ~ 43
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UCI(KEPA) : I410-ECN-0101-2020-559-001259190