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Control of Running Biped Robot with Desired Arm Motion

Title
Control of Running Biped Robot with Desired Arm Motion
Author
최시명
Advisor(s)
박종현
Issue Date
2012-02
Publisher
한양대학교
Degree
Master
Abstract
This paper proposes a control method for running biped robot with desired arm motion based on an angular momentum control. An angular momentum control is to calculate angular velocity of each ro ot joint maintaining the balance of a robot according to the desired angular momentum. Not only robot balance but the amplitude of the robot angles of each joint keeping balance should be considered to determine the desired angular momentum. In this paper, the desired angular momentum satisfying above two conditions is determined by linear relationship with the angular momentum generated by the angular velocity of joints of legs and desired arm by a gradient optimization method. The trajectory of center of mass (CoM) of the biped robot is generated based on the method called the LIPM (Linear Inverted Pendulum Mode). It is designed the vertical CoM motion assuming a simple hopping robot. Based on the vertical trajectory of CoM, the horizontal CoM is generated. The effectiveness and the performance of the proposed method are shown in computer simulations a 28-DOF biped robot. In the simulations, running biped robot had several desired arm motions that could cause instability. Motions of the waist and the other arm generated by the proposed scheme could maintain the stability of the robot.
URI
http://dcollection.hanyang.ac.kr/jsp/common/DcLoOrgPer.jsp?sItemId=000000062196https://repository.hanyang.ac.kr/handle/20.500.11754/137809
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
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