서지주요정보
휴머노이드 로봇을 위한 여유 자유도 머니퓰레이터의 설계와 제어 = Design and control of a redundant manipulator for humanoid robot
서명 / 저자 휴머노이드 로봇을 위한 여유 자유도 머니퓰레이터의 설계와 제어 = Design and control of a redundant manipulator for humanoid robot / 박현우.
저자명 박현우 ; Park, Hyun-Woo
발행사항 [대전 : 한국과학기술원, 2002].
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등록번호

8012979

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 02002

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초록정보

In this thesis, design and control issues of a redundant manipulator are handled with special focus on humanoid robot. Unlike the conventional industrial robot, humanoid robots are constructed for utilization in the environment of human daily life such as home, office and other public facilities. And they are usually attached with manipulators to provide various services to human being. Therefore, the manipulators are required to have a human-friendly appearance and to mimic the human motion. A simple solution is the human-like structure which can be represented by a seven degree of freedom (DOF) serial link manipulator with appropriate joint limits and link shapes. In addition to providing a design guideline considering the dimension, a human-like pose generation method is considered based on Gradient Projection Method(GPM) which resolves redundancy according to a predefined cost function. Therefore, special care has to be taken in selecting an appropriate cost function. Moreover, in order to provide flexibility to generate a human-friendly pose, each joint limit range is divided into main and sub ranges. And sigmoid functions with different parameters are utilized to build up a cost function, where joint limit avoidance is also achieved by the proposed cost function. In order to show the validity of the proposed cost function, some simulations and experiments are conducted, and results are presented comparing with conventional GPM.

서지기타정보

서지기타정보
청구기호 {MEE 02002
형태사항 vii, 51 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Hyun-Woo Park
지도교수의 한글표기 : 정명진
지도교수의 영문표기 : Myung-Jin Chung
학위논문 학위논문(석사) - 한국과학기술원 : 전기및전자공학전공,
서지주기 참고문헌 : p. 50-51
주제 머니퓰레이터
여유자유도
휴머노이드
경사투영법
manipulator
redundant
humanoid
Gradient
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