영공간을 이용한 이족 보행 로봇의 안정적인 주행

Abstract

In this paper, a method for stable running of a biped robot by using null space is proposed. When a trajectory of a biped robot is generated by using IPM(Inverted pendulum model), the robot is assumed as a particle. Therefore, the robot can be unstable when momentum of the robot is changed. In order to solve the problem, resolved momentum control is used. Resolved momentum control is a method that generate angle of joints to satisfy a desired momentum. In this paper, Resolved momentum control is used for stable running. And null space is used to prevent undesirable motion of robot.