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논문 기본 정보

자료유형
학술저널
저자정보
(국민대학교) (자동차부품연구원) (University of Nevada) (University of Hartford) (University of Nevada) (University of Nevada) (국민대학교)
저널정보
제어로봇시스템학회 제어로봇시스템학회 논문지 제어로봇시스템학회 논문지 제22권 제11호
발행연도
수록면
912 - 918 (7page)
DOI
10.5302/J.ICROS.2016.16.0168

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초록· 키워드

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator’s commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.
#humanoid robot #driving #egress #locomotion #balance
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목차

  1. Abstract
  2. Ⅰ. 서론
  3. Ⅱ. 로봇 시스템 구성
  4. Ⅲ. 로봇 제어
  5. Ⅳ. 전략
  6. Ⅴ. 결론
  7. REFERENCES

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