Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 한재권 | - |
dc.date.accessioned | 2023-05-17T05:02:23Z | - |
dc.date.available | 2023-05-17T05:02:23Z | - |
dc.date.issued | 2020-10 | - |
dc.identifier.citation | International Conference on Control, Automation and Systems, v. 2020-October, article no. 9268204.0, Page. 251.0-257.0 | - |
dc.identifier.issn | 1598-7833;2642-390 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9268204?arnumber=9268204&SID=EBSCO:edseee | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/180671 | - |
dc.description.abstract | The preview control walking method, which is commonly used in bipedal walking, requires jerk and ZMP errors as cost functions to generate body trajectory. Since the two inputs are dependent, optimization to form body trajectory is performed simultaneously with weight factors. Therefore, it is often seen that the resulting body trajectory rapidly changes on velocity according to the weight factors. This eventually requires a torque actuator in order to perform such action. In order to overcome this problem, we apply a method used on a quadruped to a bipedal robot. Since, it only targets to minimize the acceleration of the body trajectory, the body does not require rapid speed change. Also, this method can eliminate the computation time needed for preview control referred to preview time. When applying a quadruped robots walking method that has a relatively large support polygon than that of a bipedal robot, stability deterioration may occur. Therefore, we approached to secure ZMP constraints with relatively small support polygon area as within bipedal robots. In this paper we propose a body trajectory generation method that guarantees real-time stability while minimizing acceleration. © 2020 Institute of Control, Robotics, and Systems - ICROS. | - |
dc.description.sponsorship | Fostering Global Talents for Innovative Growth Program[P0008749];Ministry of Trade, Industry, and Energy;Korea Institute for Advancement of Technology | - |
dc.language | en | - |
dc.publisher | IEEE Computer Society | - |
dc.subject | Bipedal robot | - |
dc.subject | Body trajectory generation | - |
dc.subject | Quadratic Programming | - |
dc.subject | ZMP optimization | - |
dc.title | Body trajectory generation using quadratic programming in bipedal robots | - |
dc.type | Article | - |
dc.relation.volume | 2020-October | - |
dc.identifier.doi | 10.23919/ICCAS50221.2020.9268204 | - |
dc.relation.page | 251.0-257.0 | - |
dc.relation.journal | International Conference on Control, Automation and Systems | - |
dc.contributor.googleauthor | Min. InJoon | - |
dc.contributor.googleauthor | Yoo. DongHa | - |
dc.contributor.googleauthor | Ahn. MinSung | - |
dc.contributor.googleauthor | Han. Jeakweon | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 로봇공학과 | - |
dc.identifier.pid | jkhan | - |
dc.identifier.article | 9268204.0 | - |
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