4족 보행 로봇의 시스템 설계를 위한 동역학 시뮬레이터 개발에 관한 연구

Abstract

This research is about the system design of a multi-legged walking robot, which can execute given tasks while actively moving on flat and wild lands. While wheel-type or caterpillar-type robots have good field application, there are locations such as special industrial site or places with extreme topography that such driving systems cannot access, and the walking system is a practical alternative. This research aims to help overcome the technical difficulties related to the development of such a walking system. A study on walking robots needs to include the following: the engineering of the walking mechanism; the control technology to control multiple servos; the walking pattern and multiple walking control technologies suitable to topography and conditions; estimation by sensors, such as vision devices; intelligent and self-controlled motion planning function; and the overall management system to support the whole system. For this, a virtual prototyping technique is proposed as a method of solving time-related and economic problems. Moreover, we also aim to reduce the development risks regarding technical errors that may occur in the real production and operation of a multi-legged walking robot, where a high level of difficulty can be expected. Currently, for the quadruped walking robots being developed at the KITECH, we have developed and analyzed the analytical tools for the mechanical design of the leg mechanism of the robot, the hydraulic power system, the robot body and the overall system. Through this research, a dynamic simulator of the quadruped walking robot driven by a hydraulic linear actuator was developed. This was achieved by a design sensitivity analysis that considers the development of a dynamic model and also the design parameters from a multi-body dynamic system. Accordingly, design studies are enabled, and the design parameters of power and flow rate are considered. As the system analysis result shows, we expect this study to contribute to the system development, the actual management and the production of multi-legged robots in the future.