Open Inventor를 이용한 이족보행로봇의 시뮬레이터 개발

Abstract

In this thesis, for autonomous walking of the human-sized biped walking robot(BWR), an embedded motion control system and a computer simulator are studied.

The BWR which is actuated by the four-bar link mechanism is previously developed in our laboratory. The four-bar link mechanism is improved. The four-bar link mechanism is composed of the fixed length of three pitch joints and fixed angle of one roll joint.

A motion capture system with six potentiometers at the joints to get the walking pattern of BWR is developed. The potentiometer with A/D converter changed the revolution voltage to digital angle data. I extracted the basic walking pattern data of the BWR from that signal.

For autonomous walking motion control, a wireless input device, hard disk, flash memory and battery was setup. 3-dimension modeling was performed using a CAD program so called "Open Inventor".

The embedded computer is connected with the user control computer for the remote control. The Embedded computer has MMC motion board for the 8 D.O.F. control. The user control computer receives the information sent from the embedded computer and performs 3-Dimension simulation of the BWR.