Multistage fall trajectory optimization for a generalized biped robot = 이족형 로봇의 넘어짐 궤적 다단계 최적화에 대한 연구

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 127
  • Download : 0
The falling process of a generalized biped robot falling backward, sidewards and to the front is investigated as a free final-time optimal control problem. The aim is to minimize a set of performance parameters to reduce the fall damage to the robot. The back fall and side fall are modeled using a single inverted pendulum. For the fall to the front a three-stage approach was chosen. For the first stage (standing upright until the knees are touching the floor) a quadruple pendulum was used, shifting in second stage (knees-to-floor until hands-to-floor) to a triple pendulum coupled to a single pendulum and in the third stage to a single pendulum with an external force exerted by the arms. The tool is written in MATLAB, where, after putting the robot parameters in and setting the optimization goals, one can find optimal joint torques, joint angles and/or joint velocities for the involved joints to implement them as an open-loop control to a real robot. This implementation is then applied in two exemplary ways: One to generate trajectories for a robot without any torque restrictions to the joint driving motors to find the general principle. Secondly to analyze a real robot including torque limitations. The torque limitations were implemented using a simplified DC motor model.
Advisors
Kim, Soohyunresearcher김수현researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2017
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2017.2,[iv, 82 p. :]

Keywords

Optimal Control; Biped Robot; Falling trajectory; Pendulum; 최적 제어; 이족 보행 로봇; 넘어짐 궤적; 진자

URI
http://hdl.handle.net/10203/242871
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=675133&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0