The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
권호 표지
DOI QR코드

DOI QR Code

An Efficient Stair Locomotion Method of Quadruped Robot with Mechanism of Insectile Leg

곤충형 다리 구조를 갖는 4족 로봇의 효율적인 계단 보행 방법

  • Received : 2015.02.03
  • Accepted : 2015.03.23
  • Published : 2015.03.31
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

본 논문에서는 곤충형 다리 구조를 갖는 4족 로봇의 정적 계단 보행 시 계단과의 충돌 제약이 없는 효율적인 걸음새 궤적 생성 방법을 제안한다. 우선 4족 로봇의 순기구학 및 역기구학 모델을 각기 대수학적 방법과 기하학적 방법으로 유도한다. 제안한 방법에서는 보행 시작 위치에서 수직 상승 후 사인 파형의 계단 보행 궤적을 생성하고, 계단과의 충돌을 피하기 위한 보행 궤적의 계수를 설정한다. 또한 안정적인 계단 보행을 위한 걸음새 순서를 결정한다. 마지막으로, 컴퓨터 시뮬레이션을 통해 제안한 계단 보행 방법의 효용성 및 실제 적용 가능성을 검증한다.

Keywords

References

  1. Y. Bae and J. Park, "A Study on Obstacle Avoid Method and Synchronization of multi chaotic robot for Robot Formation Control based on Chaotic Theory," J. of the Korea Institute of Electronic Communication Sciences, vol. 5, no. 5, 2010, pp. 534-540.
  2. Y. Moon, Y. Seo, N. Ko, S. Roh, and J. Park, "Robot Design for Fire Detection and Data Processing," J. of the Korea Institute of Electronic Communication Sciences, vol. 5, no. 1, 2010, pp. 31-36.
  3. T. K. Brewer, "Development of a Quadruped robot and Parameterized Stair Climbing Behavior," Master's Thesis, University of Maryland, 2011.
  4. M. Takahashi, K. Yoneda, and S. Hirose, "Rough Terrain Locomotion of a Leg-wheel Hybrid Quadruped Robot," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Orlando, U.S.A., May 2006, pp. 1090-1095.
  5. B. Huang, L. Sun, and Y. Luo, "Statically Balanced Stair Climbing Gait Research for A Hybrid Quadruped Robot," Proc. of Int. Conf. on Mechatronics & Automation, Niagara Falls, Canada, July 2005, pp. 2067-2071.
  6. J. B. Jeans and D. Hong, "IMPASS: Intelligent Mobility Platform with Active Spoke System," Proc. of IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, May 2009, pp. 1605-1606.
  7. S. D. Herbert, A Drenner and N Papanikolopoulos, "Loper: A Quadruped-Hybrid Stair Climbing Robot," Proc. of IEEE Int. Conf. on Robotics and Automation, Pasadena, U.S.A., May 2008, pp. 799-804.
  8. M. Takahashi, K. Yoneda, and S. Hirose, "Quasi-Static Analysis of a Leg-wheel Hybrid Vehicle for Enhancing Stair Climbing Ability," Proc. of IEEE Int. Conf. on Robotics and Automation, Sanya, China, Dec 2007, pp. 1090-1095.
  9. E. Z. Moore, D. Campbell, F. Grimminger, and M. Buehler, "Reliable Stair Climbing in the Simple Hexapod 'RHex'," Proc. of IEEE Int. Conf. on Robotics and Automation, Washington, DC, U.S.A., May 2002, pp. 2222-2227.
  10. C. Ko, S. Chen, C. Li, and P. Lin, "Trajectory Planning and Four-leg Coordination for Stair Climbing in a Quadruped Robot," Proc. of Int. Conf. on Intelligent Robots and Systems, Taipei, Taiwan, Oct 2010, pp. 5335-5340.
  11. Y. Choi, D. Kim, and K. Kim, "GA Based Locomotion Method for Quadruped Robot with Waist Joint to Walk on the Slop," J. of the Korea Institute of Electronic Communication Sciences, vol. 8, no. 11, 2013, pp. 1665-1673. https://doi.org/10.13067/JKIECS.2013.8.11.1665
  12. Y. Ahn, "A Study on Quadruped Walking Robot with Mechanism of Insectile Leg," Ph.D's Thesis, Chung-Ang University, 2001.