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시뮬레이션에 기반한 휴머노이드 로봇 두 대의 안정적인 물체 운반 및 제어 연구

Title
시뮬레이션에 기반한 휴머노이드 로봇 두 대의 안정적인 물체 운반 및 제어 연구
Translated Title
Simulation based for intelligent control system of multi-humanoid robots for stable load carrying
Authors
김한근김형진박원만김윤혁김동한안진웅
DGIST Authors
안진웅
Issue Date
2010-02
Citation
제어.로봇.시스템학회 논문지, 16(2), 120-125
Type
Article
Article Type
Article
Keywords
PID/fuzzy controlstable load-carryingmulti-humanoid robot
ISSN
1976-5622
Abstract
This paper proposes an intelligent PID/Fuzzy control system for two humanoid robots to transport objects stably. When a robot transports an object while walking, a whole body system of a robot may not be stable due to vibration or external factors from a different departure speed error and a body movement of walking robots. Therefore, it is necessary to measure the horizontal and vertical locations and speeds of object, then calibrate the difference of departure speed between robots with PID/Fuzzy control. The results of simulation with two robots indicated that a proposed controller makes robots to transport an object stably.
URI
http://hdl.handle.net/20.500.11750/5823
DOI
10.5302/J.ICROS.2010.16.2.120
Publisher
제어·로봇·시스템학회
Related Researcher
Files:
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Collection:
ETC1. Journal Articles


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