|제목(국문)||휴머노이드 로봇의 입구 통로를 막고 있는 잔해 제거를 위한 역 기구학 제어와 자세 제어기 설계|
|제목(영문)||Removal of Debris Blocking an Entryway: Inverse Kinematic Control and Balancing Controller Design for Humanoid|
,Mechanical Engineering, Koera Advanced Institute of Science and Technology
김인혁 (K.I.H ,Rainbow Dynamic Inc. ) ▷공저자네트워크등록하기
오준호 (O.J.H ,Mechanical Engineering, Koera Advanced Institute of Science and Technology ) ▷공저자네트워크등록하기
The humanoid robot, DRC-HUBO is developed from the KHR (KAIST Humanoid Robot) series to meet the requirements of the DARPA Robotics Challenge. DARPA Robotics Challenge was a competition to develop semi-autonomous humanoid robot so that dispatched in dangerous environments in place of humans like the Fukushima nuclear accident. In this paper, we introduce DRC-HUBO briefly and a methodology to remove debris blocking an entryway. The methodology includes inverse kinematics for DRC-HUBO and stabilization controller based on ZMP. Proposed inverse kinematics is robust, and pelvis-related tasks improve the manipulability and workspace of the arms. The controller improves the damping characteristic of the system and mitigates the instability during removal of debris. For given position and orientation of the debris, DRC-HUBO generates motion to reach the debris and lift up while stabilizing itself. Many experimental results verify our proposed methodology.
|keyword||DRC-HUBO, inverse kinematic control of humanoids, DARPA robotics challenge，removal of debris