Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Analysis on Effective Walking Pattern for Multi-Legged Robots

다족 로봇을 위한 효과적인 보행 패턴 분석

  • Kim, Byoung-Ho (Bio-Mimetic Control & Robotics Lab., School of Electrical and Mechatronics Eng., Kyungsung Univ.)
  • 김병호 (경성대학교 전기전자메카트로닉스공학부 생체모방제어 및 로봇연구실)
  • Received : 2008.07.10
  • Accepted : 2009.10.05
  • Published : 2009.10.25
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Abstract

A proper walking pattern is to be assigned for a walk of multi-legged robots. For the purpose of identifying a good walking pattern for multi-legged robots, this paper consider a simple model of quadruped robotic walking and analyze its walking balance based on the centroid of foot polygons formed in every step. A performance index to estimate the walking balance is also proposed. Simulation studies show that the centroid trajectory of foot polygons and the walking balance in a common quadruped walking are different according to the walking pattern employed. Based on the walking balance index and a bio-mimetic aspect, a useful walking pattern for quadruped robots is finally addressed.

다족로봇이 보행하기 위해서는 기본적으로 어떤 보행 패턴의 설정이 필요하다. 이러한 관점에서 어떤 보행 패턴이 효과적인 다족 보행을 가능하게 할 것인지를 분석하기 위하여 본 논문은 네 개의 다리를 이용하는 4족 보행 로봇 모델을 고려하며, 보행 순간마다 지지판에 의해 형성되는 지시다각형의 중심경로를 기반으로 보행 밸런스를 분석한다. 또한, 다족 로봇의 보행 밸런스를 평가하기 위한 성능지수를 제안한다. 시뮬레이션을 통하여, 4족 로봇의 보행에서 지지다각형의 중심 경로와 보행 밸런스는 사용된 보행 패턴에 따라 다르다는 사실을 보인다. 결과적으로, 보행 밸런스 지수와 생체모방 관점으로부터 4족 로봇의 보행을 위하여 유용한 보행 패턴을 제시한다.

Keywords

Acknowledgement

Supported by : 한국학술진흥재단

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