Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on Stabilization of Walking and Working Motion of Biped Robot

보행로봇의 워킹 및 작업동작 안정화에 관한 연구

  • Received : 2016.01.08
  • Accepted : 2016.02.04
  • Published : 2016.03.31
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Abstract

In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.

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References

  1. J. H. Kim, D. H. Kim, Y.J. Kim, K. H. Park, "Humanoid Robot Hansaram: Recent Progress and Developments", HNICEM Int. Confrence, pp. 1-11, 2003.