본문 바로가기
HOME> 논문 > 논문 검색상세

논문 상세정보

다족 보행로봇의 동적 조작성 해석
Force Manipulability Analysis of Multi-Legged Walking Robot

조복기   (충남대학교 메카트로닉스공학과UU0001302  ); 이지홍   (충남대학교 메카트로닉스공학과UU0001302  );
  • 초록

    This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.


  • 주제어

    force manipulability analysis .   multi-legged walking robot .   reaction force .   hard-foot.  

  • 참고문헌 (17)

    1. J. S. Arora, 'Introduction to optimwn design,' McGraw-Hill, 1989 
    2. B. bayle, J. Y. Fourquet, and M. Renaud, 'Manipulability analysis for mobile manipulators,' Froc. of the Conf. on Robotics & Automation, pp. 1251-1256, 2001 
    3. T. Yoshikawa, 'Manipulability of robotic mechanisms,' JRobot, vol. 4, no.2, pp. 3-9, 1985 
    4. J. Lee, 'Velocity workspace analysis for multiple arm robots systems,' Robotica, vol. 19, pp. 581-591, 2001 
    5. J. Lee, 'A study on the manipulability measures for robot manipulators,' IEEE/RSJ IROS'97., pp.1458-1465, 1997 
    6. G. M. Ziegler, Lectures on Polytopes, Springer-Verlag, 1995 
    7. D. R. Chand and S. S. Kapur, 'An algoritlun for convex polytopes,' Journal of Association for Computing Machinery, vol. 17, no. 1, pp. 78-86, 1970 
    8. F. T. Cheng, et. aI., 'Resolving manipulator redundancy under inequality constraints,' IEEE Trans. Robotics and Automation, vol. 10, no. 1, Fed., 1994 
    9. A. Bicchi, C. Melchiorri, and D. Balluchi, 'On the mobility and manipulability of general multiple limb robots,' IEEE Trans. on Robotics and Automation, vol. 11, no. 2, pp. 215-228, 1995 
    10. S. Hirose and K. Kato, 'Study on quadruped walking robot in tokyo institute of technology-past, present and future,' Proc. of the Conf. on Robotics & Automation, pp. 414-419, 2000 
    11. M. Vim, D. G. Duff, K. D. Roufas, 'Walk on the wild side,' IEEE Robotics & Automation Magazine, pp. 49-53, December 2002 
    12. B. Goodwine and J. Burdick, 'Gait controllability for legged robots,' Proc. of the Conf. on Robotics & Automation, pp. 484-489, 1998 
    13. V. Hugel and P. Blazevic, 'Towards efficient implementation of quadruped gaits with duty factor of 0.75,' Proc. of the Conf. on Robotics & Automation, pp. 2360-2365, 1999 
    14. F. B. Ouezdou, O. Bruneau, J. C. Guinot, 'Dynamic analysis tool for legged robots,' Multiboyd System Dynamics 2, pp.369-391, 1998 
    15. 이지홍, 전봉환, '다족 보행로봇의 속도작업공간 해석,' 제어 . 자동화 . 시스템공학 논문지, vol. 8, no. 6, pp. 477-483, June, 2002     
    16. R. L. Williams,II, B. E. Carter, P. Gallina, G. Rosati, 'Dynamic model with slip for wheeled omnidirectional robots,' IEEE Transations on Robotics & Automation, vol. 18, no. 3, pp. 285-293, June 2002 
    17. Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, K. Tanie, 'Planning Walking Patterns for a Biped Robot,' IEEE Transactions on Robotics & Automation, vol. 17, no. 3, pp. 280-289, June 2001 
  • 이 논문을 인용한 문헌 (4)

    1. 2004. "Dynamic Manipulability for Cooperating Multiple Robot Systems" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, 10(10): 930~939     
    2. Yang Jung-Min 2005. "Fault Tolerant Gaits of a Hexapod Robot with a Foot Trajectory Adjustment" 電子工學會論文誌. Journal of the Institute of Electronics Engineers of Korea. SC, 시스템 및 제어, 42(3): 1~10     
    3. Jnn Bong-Huan ; Lee Jihong ; Lee Pan-Mook 2005. "Dynamic Modeling and Manipulability Analysis of Underwater Robotic Arms" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, 11(8): 688~695     
    4. Shim, Hyung-Won ; Lee, Ji-Hong 2008. "Mobility and Agility of Multi-legged Walking Robot System" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 14(11): 1146~1154     

 저자의 다른 논문

 활용도 분석

  • 상세보기

    amChart 영역
  • 원문보기

    amChart 영역

원문보기

무료다운로드
유료다운로드

유료 다운로드의 경우 해당 사이트의 정책에 따라 신규 회원가입, 로그인, 유료 구매 등이 필요할 수 있습니다. 해당 사이트에서 발생하는 귀하의 모든 정보활동은 NDSL의 서비스 정책과 무관합니다.

원문복사신청을 하시면, 일부 해외 인쇄학술지의 경우 외국학술지지원센터(FRIC)에서
무료 원문복사 서비스를 제공합니다.

NDSL에서는 해당 원문을 복사서비스하고 있습니다. 위의 원문복사신청 또는 장바구니 담기를 통하여 원문복사서비스 이용이 가능합니다.

이 논문과 함께 출판된 논문 + 더보기