Quadruped Walking Robot for Outdoor Environments


 

 

- OVER VIEW -

  In spite of rapid development in robotic technologies, living creatures are still superior to robots existing currently in various aspects. Thus, it is necessary to understand the principles underlying the motions and behaviors of biological subjects for the control of robots. Mimicking living creatures currently becomes one of the worldwide trends for robotic innovations. It is considered as one of the most adequate way of developing a robot since biological systems provide a number of useful ideas concerning the control of robots. Recently, robotic researchers as well as biologists propose innovative ideas for the control of the walking robot system. Among several ideas, mimicking the rhythmic motion of animals is one of the most promising ways to control the walking robot system. By studying on this, the locomotion of the walking robot can be close to that of the real animal. 

 


Lateral Perturbation


 

 


Sequence Based Gait Transition (Balance Control Strategy)


 

 


Artificial Digitigrade for Natural Environment version 3 (AiDIN III)


 

Different from AiDIN I & AiDIN Ⅱ 
 

- Adequate position of COG(center of gravity)

- Modified legs’ shapes and added knee joint offset
- Equipped with self-contained battery module 
- Higher performance of main and sub-controllers
- Reduced repulsive force on ground
- Adjustment of length and width ratio 
- Spring damper & energy restrore system

- Development of foot shape and footwear for prevention on walking

 


Free Gait Control


 

 


Dynamic Locomotion Control


 

 


Artificial Digitigrade for Natural Environment version 2 (AiDIN II)


 

Different from AiDIN I & AiDIN I+ 
 

- Additional 1DOF : One Piece Module of Fore/Hinge Limb Quarter
- Motor Position Change : Reduce Weigh of Limbs and Body
- Safety of Ground Slip and Additional Mechanism 
- The adjustment of length ratio and width ratio
- Used shock absorber for absorption of reflection against ground
- Development of foot shape and footwear for prevention on walking 
- More stable, More efficiency

 


Artificial Digitigrade for Natural Environment version 1+ (AiDIN I+)


 

Revision form AiDIN I 

 

- Reduce weight of each leg
- The adjustment of length ratio
- Modulization of Tibia, ankle part
- The adjustment of position of Hind Limb part actuator
(the adjustment of the center of gravity of leg)
- Used small shock absorber for absorption of reflection against ground
- Application of silicon footwear for foothold slip prevention on walking

 

 

 


Artificial Digitigrade for Natural Environment version 1 (AiDIN I)


 

To determine walking posture of quadruped walking robot, we have studied in the exoskeleton structure of ambulatory animal. And, we could describe the comparison of walking posture of robot had been exported and an ambulatory animal in detail. In this research, we can obtain the most suitable walking posture by using the results of observation and comparison. Finally, we quantify the efficiency of walking robot via the specific resistance. The validity of the proposed walking postures are demonstrated through simulations and quadruped walking robot called "Artificial Digitigrades for Natural Environment version 1 (AiDIN I )".

 

 

 


MRWALLSPECT IV (MR IV)


 

  

MRWALLSPECT IV (MR IV) is modified from MR3 for purpose of studying free gait of walking robot in rough environment. In compare with MR3, it has larger workspace, lighter weight and leg’s mass for fast walking. There is hierarchical control structure with 1 main controller and 14 local control units. Several kinds of sensor such as range, force, gyroscope and vision are embedded for best perception of the real environment. CAN Protocol is used for communicating each others. And its speed is up to 1MB baudrate. 

 


Publications


 

  • • Duc Trong Tran , Ig Mo Koo, Yoon Haeng Lee, Hyungpil Moon, Jachoon Koo, Sangdeok Park and Hyouk Ryeol Choi, Motion control of a quadruped robot in unknown rough terrains using 3D spring damper leg model , International Journal of Control, Automation & Systems, pp.372-382, 2014/04
  • Ig Mo Koo, Tran Duc Trong, Yoon Haeng Lee, Hyungpil Moon, Sangdoek Park, Ja Choon Koo, and Hyouk Ryeol Choi, Development of a Quadruped Walking Robot AiDIN III Using Biologically Inspired Kinematic Analysis, International Journal of Control, Automation, and Systems, pp.1276-1289 ,2013/12
  • • Duc Trong Tran, Yoon Haeng Lee, Ig Mo Koo and Hyouk Ryeol Choi, Quadruped Locomotion: Dynamic Gait Control & Design Optimization, 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) kprea,2013/10
  • • Ig Mo Koo, Tran Duc Trong, Yoon Haeng Lee, Hyungpil Moon, Jachoon Koo, Sun Kyu Park, Hyouk Ryeol Choi, Development of Wall Climbing Robot System by Using Impeller Type Adhesion Mechanism, Journal of Intelligent & Robotic Systems, pp. 57 - 72 ,2013/10
  • • Duc Trong Tran, Yoon Haeng Lee, Jae Ho Hyun, Luong Tin Phan, Hyungpil Moon, Sangdeok Park, Ja Choon Koo, and Hyouk Ryeol Choi, Biomimetic Control of Quadruped Walking Robots, ISR 2013_The 44th International Symposium on Robotics, 2013/10
  • • 이윤행, Tran Duc Trong, 구익모, 현재호, 문형필, 박상덕, 최혁렬, 사족보행로봇 플랫폼 AiDIN-III를 활용한 보행천이 제어기술 ,제8회 한국로봇종합학술대회, 2013/05
  • • Vo-Gia Loc, Ig Mo Koo, Duc Trong Tran, Sangdoek Park, Hyungpil Moon, Hyouk Ryeol Choi, Body Workspace of Quadruped Walking Robot and its Applicability in Legged Locomotion , Journal of Intelligent & Robotic Systems, pp.271- 284, 2012/09
  • • Vo-Gia Loc, Ig Mo Koo, Tran Duc Trong, Ho Moon Kim, Se-gon Roh, Hyungpil Moon and Hyouk Ryeol Choi, Exploiting Body Movements of Quadruped Robot to Overcome 3D Rough Terrain , 2010년 군사과학기술학회 학술대회, 2010/06/17-2010/06/18
  • • Ig Mo Koo, Tran Duc Trong, Yoon Haeng Lee, Hyungpil Moon, Hyouk Ryeol Choi, Control of Quadruped Walking Robot AiDIN-III Based on Biomimetic Inspired Approach, The 6th Asian Conference on Multibody Dynamics(ACMD), 2012/08/26-2012/08/30
  • • 구익모, Duc Tran Trong, 이윤행, 문형필, 박상덕, 최혁렬, 사족 보행 로봇의 보행 천이 제어에 관한 연구, 제7회 한국로봇종합학술대회, 2012/06/21-2012/06/23
  • • Duc Trong Tran , Ig Mo Koo, Hyungpil Moon, Cho Jung-San* , Sangdeok Park* and Hyouk Ryeol Choi, Motion control of a quadruped robot in unknown rough terrains using 3D spring damper leg model, 2012 IEEE International Conference on Robotics and Automation, 2012/05/14-2012/05/18
  • • 구익모, Tran Duc Trong, 이윤행, 문형필, 박상덕, 최혁렬, 생체모방형 사족 보행 로봇 AiDIN-III 개발 및 보행 제어, 2012년도 동역학 및 제어부문 춘계학술대회 논문집, 2012/04/11-2012/04/13
  • • Vo-Gia Loc, Ig Mo Koo, Duc Trong Tran, Sangdoek Park, Hyungpil Moon, Hyouk Ryeol Choi, Improving traversability of quadruped walking robots using body movement in 3D rough terrains, Robotics and Autonomous Systems, pp.1036~1048, 2011-08-07
  • • 구익모, Tran Duc Trong, Vo Gia Loc, 문형필, 최혁렬, 군 작전환경의 로봇 활용을 위한 4족 보행 로봇 및 보행제어기술 개발, 제1회 한국산업융합학술대회, 2011/07/12-2011/07/13
  • • 구익모, Tran Duc Trong, Vo Gia Loc, 문형필, 박상덕, 최혁렬, 생체모방형 4족 보행 로봇 AiDIN-III 개발 및 보행천이 제어에 관한 연구, 한국정밀공학회 2011년도 춘계학술대회 논문집, pp.83-84, 2011/06/01-2011/06/03
  • • Tran Duc Trong, Hyungpil Moon, and Hyouk Ryeol Choi, A new control method of quadruped robot using 3D spring, International Conference on Ubiquitous Robots and Ambient Intelligence(URAI 2010), pp.523-524, 2010/11/24-2010/11/27
  • • Vo-Gia Loc, Ig Mo Koo, Tran Duc Trong, Ho Moon Kim, Hyungpil Moon, Sangdoek Park and Hyouk Ryeol Choi, A Study on Traversability of Quadruped Robot in Rough Terrain, International Conference on Control, Automation and Systems (ICCAS 2010), pp.1707-1711, 2010/10/27-2010/10.30
  • • Vo-Gia Loc, Ig Mo Koo, Tran Duc Trong, Ho Moon Kim, Hyungpil Moon and Hyouk Ryeol Choi, Sensing and Gait Planning of Quadruped Walking and Climbing Robot for Traversing in Complex Environment, J. Robotics and Autonomous Systems, Accepted (Available online ), 2009/12
  • • Ig Mo Koo, Tran Duc Trong, Vo Gia Loc, Ho Moon Kim and Hyouk Ryeol Choi, Development of Biomimetic Qaudruped Walking Robot AiDIN-II, in Proc. Int. Conf. Ubiquitous Robots and Ambient Intelligence (URAI 2009), pp.451-455, 2009/10/28-2009/10/31
  • • Tran Duc Trong, Ig Mo Koo, Vo Gia Loc, Ho Moon Kim, Se gon Roh, Hyungpil Moon and Hyouk Ryeol Choi, Dynamic Stability of Quadruped Walking Robot, in Proc. Int. Conf. Ubiquitous Robots and Ambient Intelligence (URAI 2009), pp.441-445, 2009/10/28-2009/10/31
  • • Vo-Gia Loc, Ig Mo Koo, Tran Duc Trong, Ho Moon Kim, Se-gon Roh, Hyungpil Moon and Hyouk Ryeol Choi, Body movement and ability of quadruped robot in 3D rough environment, in Proc. Int. Conf. Ubiquitous Robots and Ambient Intelligence (URAI 2009), pp.446-450, 2009/10/28-2009/10-31
  • • Vo-Gia Loc, Se-gon Roh, Ig Mo Koo, Tran Duc Trong, Ho Moon Kim, Hyungpil Moon, Sangdoek Park and Hyouk Ryeol Choi, Control of a Quadruped Robot with Enhanced Adaptability over Unstructured Terrain, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.2671-2676, 2009/10/11-2009/10/15
  • • Duc Trong Tran, Ig Moo Koo, Gia Loc Vo, Se-gon Roh, Sangdeok Park, Hyungpil Moon, Hyouk Ryeol Choi, A new method in modeling Central Pattern Generators to control quadruped walking robots, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.129-134, 2009/10/11-2009/10/15
  • • Ig Mo Koo, Tae Hun Kang, Gia Loc Vo, Tran Duc Trong, Young Kuk Song, Hyouk Ryeol Choi, Biologically Inspired Control of Quadruped Walking Robot, Int. J. Control, Automation, and Systems, vol.7, no.4, pp.577-584, 2009/08
  • • Duc Trong Tran, Ig Mo Koo, Gia Loc Vo, Young Kuk Song, Ho Moon Kim, and Hyouk Ryeol Choi, Biomimetic Dynamic Locomotion Control of a Quadruped Walking Robot on Rough Terrains, in Proc. Int. Conf. Ubiquitous Robots and Ambient Intelligence (URAI 2008), pp.241-246, 2008/11/20- 2008/11/22
  • • Vo Gia Loc, Ig Mo Koo, Tran Duc Trong, Young Kuk Song, Ho Moon Kim, Hyouk Ryeol Choi, Increasing Adaptability of Quadruped Robot in Rough Environment with Adjusting Body Movement, in Proc. Int. Symp. Robotics, pp.319-322, 2008/10/14-2008/10/17
  • • Duc Trong Tran, Ig Mo Koo, Gia Loc Vo, Young Guk Song, Ho Moon Kim, Hyouk Ryeol Choi, Biomimetic Control of Dynamic Locomotion of a Quadruped Walking Robot on Rough Terrains, 한국지능로봇 하계 종합 학술대회, pp.403-404, 2008/06/25-2008/06/27
  • • Duc Trong Tran, Ig Mo Koo, Gia Loc Vo, Young Kuk Song, Chang Min Lee, Tae Hun Kang, Hyouk Ryeol Choi, Biomimetic Control of Quadruped Walking Robot: Recurrent Neural Network based CPG Approach , 한국지능로봇 하계종합 학술대회, pp. 434~441
  • • 강태훈, 구익모, 송현섭, 최혁렬, 동적보행을 위한 생체모방형 4족 보행로봇 AiDIN 의 개발, 한국지능로봇 하계종합 학술대회, pp. 129~136
  • • Vo Gia Loc, Tae Hun Kang, Hyun Sup Song, Ig Mo Koo and Hyouk Ryeol Choi, Quadruped Walking and Climbing Robot for Complex Environment, 한국지능로봇 하계종합 학술대회, pp. 300~307
  • • 최혁렬, Quadruped Walking Robot AiDIN for Outdoor Environments, 국방로봇 기술시범 및 워크샵, pp. 28
  • • Hyouk Ryeol Choi, Ig Mo Koo, Tae Hun Kang, Gia Loc Vo, Tran Duc Trong, Young Kuk Song, Biomimetic Locomotion Control of a Quadruped Walking Robot, Int. Federation of Automatic Control, 2008
  • • 송현섭, 강태훈, Vo Gia Loc, 구익모, 최혁렬, 사족보행로봇의 정적 보행에 관한 연구, 한국지능로봇 하계종합 학술대회, pp. 375~382
  • • 최혁렬, Quadruped Walking Robot AiDIN for Outdoor Environments, 국방로봇 기술시범 및 워크샵, pp. 28
  • • Taeyoung Son, Taehun Kang, Hyungseok Kim and Hyoukryeol Choi, Omni-directional Gait Control of Quadruped Walking Robot, Proc. Int. Conf. Control, Automation and Systems, pp. 2529-2534
  • • Taehun Kang, Taeyoung Son, Hyungseok Kim and Hyoukryeol Choi, Unified Strategy for Quadruped Walking Robot in Unstructured Environment, Proc. Int. Conf. Control, Automation and Systems, pp. 639-644
  • • Tae Hun Kang, Ig Mo Koo, Hyun Sup Song, Hyouk Ryeol Choi, A Study of Design for Quadruped Walking Robot Based on Biologically Inspired Approach, Int. Conf. Ubiquitous Robots and Ambient Intelligence, pp. 14-19
  • • Ig Mo Koo, Tran Duc Trong, Tae Hun Kang, Gia Loc Vo, Young Kuk Song, Chan Min Lee, Hyouk Ryeol Choi, Control of Qudaruped Walking Robot Based on Biologically Inspired Approach, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2007, pp. 2969-2974

 


Publications


 

  • • 지식경제부 
    험지 환경하의 4족 견마 로봇 정적보행 및 보행 천이 기술 개발 ( 2011 / 10 / 12 - 2013 / 04 / 04)
  • • 지식경제부 
    험지 환경하의 4족 견마로봇 정적보행 및 보행 천이 기술 개발(2009 / 10 / 12 ~ 2011 / 10 / 11) 
  • • 지식경제부 
    험지 환경하의 4족 견마로봇 정적보행 및 보행 천이 기술 개발(2009 / 10 / 1 ~ 2010 / 9 / 30) 
  • • 산업자원부 
    견마로봇 보행 기반기술 개발 (2006 / 9 / 1 ~ 2009 / 8 / 31)
  • • 학술진흥재단 
    사족 보행 로봇의 생체모방형 동적 걸음새 제어에 관한 연구 (2005 / 5 / 1 ~ 2006 / 3 / 31)

 


Researcher


 

Yoon Haeng Lee, Phan Luong Tin, Young Hun Lee, Hyun Yong Lee, Han Sol Kang