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Dependable Humanoid Navigation System Based on Bipedal Locomotion

Dependable Humanoid Navigation System Based on Bipedal Locomotion
학술지명 IEEE Transactions On Industrial Electronics ISSN 0278-0046
SCI 유무 SCI 게재연월 2012-02 Vol. 59 No. 2
표준화된 순위정보영향력지수 100 IF 5.165 Citation 4

Dependable Humanoid Navigation System Based on Bipedal Locomotion
저자 YeonSik Kang, HyunSoo Kim, SooHyun Ryu, Nakju Lett Doh, YongHwan Oh, BumJae You
초록
In this paper, a dependable humanoid navigation system is proposed by considering many difficulties in humanoid navigation based on bipedal locomotion in an uncertain environment. In particular, we propose a layered architecture to resolve complicated problems through a hierarchical manner. Within the proposed software architecture, a walking path planner, a walking footstep planner, and a walking pattern generator are integrated in a hierarchy to create a reliablemotion that overcomes foot slippage and localization sensor noise. Each layer is designed to overcome difficulties originating from bipedal locomotion such as unstable dynamics, inclusion of a sinusoidal noise component in the localization sensor measurement, and disturbance regarding discrete footstepping. The designed navigation system is implemented on a human-sized experimental humanoid platform and is tested for the evaluation of its reliability and robustness in various tasks 
keyword Bipedal locomotion, humanoid navigation, localization, software architecture

Dependable Humanoid Navigation System Based on Bipedal Locomotion
과제명 실감교류 확장공간 소프트웨어 플랫폼 기술
연구기관 실감교류인체감응솔루션연구단 연구책임자 유범재