박해원 교수

This paper presents the design and implementation of a bounding controller for the MIT Cheetah 2 and its experimental results. The paper introduces the architecture of the controller along with the functional roles of its subcomponents. The application of impulse scaling provides feedforward force profiles that automatically adapt across a wide range of speeds. A discrete gait pattern stabilizer maintains the footfall sequence and timing. Continuous feedback is layered to manage balance during t

This paper presents a feedback controller that allows MABEL, which is a kneed planar bipedal robot with 1-m-long legs, to accommodate terrain that presents large unexpected increases and decreases in height. The robot is provided no information regarding where the change in terrain height occurs and by how much. A finite-state machine is designed that manages transitions among controllers for flat-ground walking, stepping-up and -down, and a trip reflex. If the robot completes a step, the depth

This paper introduces a bounding gait control algorithm that allows a variable-speed running in the MIT Cheetah 2. A simple impulse planning algorithm is proposed to design vertical and horizontal force profiles which make net impulse on the system during one cycle zero. This design of force profiles leads to the conservation of linear momentum over a complete step, providing periodicity in horizontal and vertical velocity. When designed profiles are applied to the system, periodic orbits with a

A climbing robot that can rapidly move on diverse surfaces such as floors, walls, and ceilings will have an enlarged operational workspace compared with other terrestrial robots. However, the climbing skill of robots in such environments has been limited to low speeds or simple locomotion tasks. Here, we present an untethered quadrupedal climbing robot called MARVEL (magnetically adhesive robot for versatile and expeditious locomotion), capable of agile and versatile climbing locomotion in ferro

Research in bipedal robotics aims to design machines with the speed, stability, agility, and energetic efficiency of a human. While no machine built today realizes the union of these attributes, several robots demonstrate one or more of them. The Cornell biped is designed to be highly energy efficient [1].

This paper presents a bio-inspired quadruped controller that allows variable-speed galloping. The controller design is inspired by observations from biological runners. Quadrupedal animals increase the vertical impulse that is generated by ground reaction forces at each stride as running speed increases and the duration of each stance phase reduces, whereas the swing phase stays relatively constant. Inspired by this observation, the presented controller estimates the required vertical impulse at

This paper presents a feedback controller that allows MABEL, a kneed, planar bipedal robot, with 1 m-long legs, to accommodate an abrupt 20 cm decrease in ground height. The robot is provided information on neither where the step down occurs, nor by how much. After the robot has stepped off a raised platform, however, the height of the platform can be estimated from the lengths of the legs and the angles of the robot's joints. A real-time control strategy is implemented that uses this on-line es

Abstract This paper introduces a new multi-modal robot capable of terrestrial and aerial locomotion, aiming to operate in a wider range of environments. The robot was built to achieve two locomotion modes of walking and gliding while preventing one modality hindering the other. To achieve this goal, we found the solution from Pteromyini , commonly known as the flying squirrel. Pteromyini utilizes its flexible membrane to glide in the air, and it shows agile movements on the ground. We studied Pt

This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the contact-implicit differential dynamic programming (DDP) framework, merging the hard contact model with a linear complementarity constraint. We propose the analytical gradient of the contact impulse based on relaxed complementarity constraints to further the exploration of a

Quadrupedalism, pervasive in mammals, is a promising mode of locomotion for robotics applications. Recently, the quadrupedal robots have demonstrated remarkable performances. Boston Dynamics demonstrated robust gait control implemented in BigDog [1], and fast locomotion in Cheetah Utilizing the wide stance of the quadrupedal morphology, StarlETH [3] and HyQ [4] also showed robust walking in rough terrains. These achievements suggested that quadrupedal robots could be a widely used for future rob

This paper describes design of tracked vehicle which can adapt rough terrain using passive link mechanism. The vehicle has two track modules at both sides which have four-bar link mechanism with passive spring elements. The passive spring elements of the link mechanism provide the restoring force which helps the vehicle to be changed to stable configuration when overcoming uneven terrains. The two track modules are connected with rotary joint so that it provides adaptability to laterally located

In this study, cracking patterns and widths were analytically investigated in a continuously reinforced bonded concrete overlay (CRBCO), as they developed due to temperature change and drying shrinkage, as the environmental load for the sustainable management of deteriorated concrete pavements. The parameters of the concrete damaged plasticity (CDP) model used for the nonlinear finite element analysis (FEA) of the continuously reinforced concrete pavement were determined through comparison of th

This paper presents LIGHTDOG, a torque-controlled, hydraulically-actuated quadrupedal robot designed for a high power-to-weight ratio and substantial payload capabilities. Hydraulic systems present complexity, weight, and thermal management challenges, which are addressed by embedding all the oil channels inside the robot, inspired by biological vascular structures. This embedding is facilitated by a distinctive robot body design featuring integrated oil channels and the inclusion of a double-va