Extended modifiable walking pattern generator and footstep planner for navigation of humanoid robots = 휴머노이드 로봇의 이동을 위한 확장된 가변적 걸음새 생성기와 발걸음 계획기

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These days, research on humanoid robots has made rapid progress for dexterous motions along with hardware development. Various humanoid robots have demonstrated stable walking algorithms. In most walking pattern generation methods for humanoid robots, it is assumed that the terrain is flat. However, in human environments, there exist inclined terrain, stairs, and uneven terrain as well as flat terrain. Therefore, walking pattern generation on various environments for humanoid robots is one of the key research issues. In this thesis, an extended modifiable walking pattern generator (MWPG) is proposed for modifiable walking of humanoid robots on various environments. The humanoid robots in the previous researches related to walking pattern generation on inclined terrain, stairs, and uneven terrain were unable to independently modify the elements of a walking pattern, i.e. the single and double support times, the sagittal and lateral step lengths, the foot height, and the foot direction of the swing leg, without any extra footstep for adjusting the center of mass (CoM) motion. Moreover, only the inclination along the pitch direction was considered for walking. In real environments, however, there exist inclined terrains in roll as well as pitch directions. To solve these problems, the MWPG is extended, which allows the zero moment point (ZMP) variation in real-time by closed form functions. The MWPG can independently modify the elements of the walking pattern without any extra footstep for adjusting the CoM motion. However, it can be applied only on flat terrain. Thus, in this thesis, an extended MWPG is developed to independently modify the elements of the walking pattern on inclined terrain, stairs, and uneven terrain. In the MWPG, to generate a walking pattern on flat terrain, a command state (CS) was defined as a navigational command set of the single and double support times, the sagittal and lateral step lengths, and the foot direction of the swing leg. I...
Advisors
Kim, Jong-Hwanresearcher김종환
Description
한국과학기술원 : 전기및전자공학과,
Publisher
한국과학기술원
Issue Date
2013
Identifier
513083/325007  / 020095186
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 전기및전자공학과, 2013.2, [ vii, 70 p. ]

Keywords

footstep planner; uneven terrain; stairs; inclined terrain; 3-D linear inverted pendulum model (LIPM); modifiable walking pattern generator (MWPG); Humanoid robot; 휴머노이드 로봇; 가변적 걸음새 생성기; 3차원 선형 역진자 모델; 경사면; 계단; 비평탄 지형; 발걸음 계획기; 진화 최적화; evolutionary optimization

URI
http://hdl.handle.net/10203/180132
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=513083&flag=dissertation
Appears in Collection
EE-Theses_Ph.D.(박사논문)
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