Title Page
ABSTRACT
Contents
Chapter 1. Introduction 11
1.1. Background 11
1.2. Previous Works 13
1.2.1. Small Unmanned Ground Vehicle 13
1.2.2. Algorithm for stabilization of Robot Posture 17
1.3. Thesis Objective & Ordering 22
Chapter 2. Required Escape State for SUGV(RES) 23
2.1. SUGV Design Parameter setting 23
2.2. Estimation of Center of Gravity (COG) for SUGV 26
2.3. Required Escape State (RES) by COG Estimation 28
2.3.1. Hole Sticking State 28
2.3.2. Turnover State 32
2.4. Required Escape State(RES) by Response Surface Method 34
2.4.1. Response Surface Methodology (RSM) 34
2.4.2. SUGV Platform 38
2.4.3. RSM Parameter Setting 40
2.4.4. Experiments and RSM Analysis 42
Chapter 3. SUGV Escape Sequence(SES) 51
3.1. SUGV Action Module Inventory 51
3.2. SUGV Basic Motions 52
3.3. SUGV Escape Combination(SEC) 56
3.3.1. SUGV Escape Combination(SEC) for Hole Sticking 56
3.3.2. SUGV Escape Combination(SEC) for Turnover 61
Chapter 4. SUGV Escape Algorithm and its Evaluation 62
4.1. Mounted Sensors 62
4.1.1. IMU(Inertia Measurement Unit) 62
4.1.2. Motor Drive Unit 63
4.2. Classification of RES by using the mounted sensors 63
4.2.1. Classification of Hole Sticking State 63
4.2.2. Classification of Turnover State 64
4.3. SUGV Escape Algorithm(SEA) 65
4.3.1. SUGV Escape Algorithm for Hole Sticking 66
4.3.2. SUGV Escape Algorithm for Turnover 80
4.4. Integrated SUGV Escape Algorithm 82
Chapter 5. Conclusion and Future Work 84
5.1. Conclusion 84
5.2. Further Work 85
REFERENCE 86
요약문 89
이력서(Curriculum Vitae) 92
Table 1.1. Specification of Packbot 14
Table 1.2. Specification of Talon 14
Table 1.3. Specification of VIPeR 15
Table 1.4. Specification of ROBHAZ-DT3 16
Table 1.5. Specification of VSTR 16
Table 1.6. Posture Control Method of ASIMO 17
Table 1.7. Posture Control Method of Hubo 18
Table 1.8. Posture Control Method of BigDog 19
Table 1.9. Posture Control Method of Rescue Robot 20
Table 1.10. Posture Control Method of ROBHAZ-DT2 21
Table 2.1. Abbreviation of Design Parameter of SUGV 25
Table 2.2. Design Parameter Setting of SUGV 25
Table 2.3. Hole Sticking State-1 by RecurDyn Simulator 30
Table 2.4. Hole Sticking State-2 by RecurDyn Simulator 31
Table 2.5. Turnover State by RecurDyn Simulator 33
Table 2.6. Numbers of Experimental points of CCD and BBD 36
Table 2.7. Range of Independent and Response Variables for Hole Sticking 41
Table 2.8. Range of Independent and Response Variables for Turnover 42
Table 2.9. Experiment Result for Hole Sticking 43
Table 2.10. Experiment Result for Turnover 48
Table 4.1. SEA for Hole Sticking : Backward approach 1 68
Table 4.2. SEA for Hole Sticking : Backward approach 2 70
Table 4.3. SEA Evaluation Result for Hole Sticking : Backward approach 1 71
Table 4.4. SEA Evaluation Result for Hole Sticking : Backward approach 2 71
Table 4.5. SEA for Hole Sticking : Forward approach for 200mm Obstacle 73
Table 4.6. SEA for Hole Sticking : Forward approach for 380mm Obstacle 74
Table 4.7. SEA Evaluation Result for Hole Sticking Forward Approach : 200mm 75
Table 4.8. SEA Evaluation Result for Hole Sticking Forward Approach : 380mm 75
Table 4.9. SEA for Hole Sticking : Mixed approach for 200mm Obstacle 77
Table 4.10. SEA for Hole Sticking : Mixed approach for 380mm Obstacle 78
Table 4.11. SEA Evaluation Result for Hole Sticking Mixed Approach : 200mm 79
Table 4.12. SEA Evaluation Result for Hole Sticking Mixed Approach : 380mm 79
Table 4.13. SEA for Turnover : Sequence for suey Level Position. 81
Table 4.14. SEA Evaluation Result for Turnovcr 81
Table 4.15. Integrated SEA for Mixed Environment 83
Table 4.15. Evaluation for each SUGV Escape Algorithm 85
Figure 1.1. Future Combat System 12
Figure 1.2. Floor Reaction Force Control in Two Leg Support Phase 17
Figure 1.3. Overall Block Diagram of Posture Recovery Control 18
Figure 1.4. Block Diagram of Walking Pattern Generator 19
Figure 1.5. Overall Structure of Walking Stabilization Algorithm 19
Figure 1.6. Stability Margin of Rescue Robot 20
Figure 1.7. Stabilizing Pitch Angle of Rescue Robot 20
Figure 1.8. Force Distribution at Turnover State 21
Figure 2.1. Design Parameter Setting of SUGV in X-Z Plane 23
Figure 2.2. Design Parameter Setting of SUGV in X-Y Plane 24
Figure 2.3. Range of LX0 with respect to the variation of Angle α and β[이미지참조] 27
Figure 2.4. Range of LZ0 with respect to the variation of Angle α and β[이미지참조] 27
Figure 2.5. Hole Sticking State by CoG Estimation-1 28
Figure 2.6. Hole Sticking State by CoG Estimation-2 29
Figure 2.7. Turnover State by CoG Estimation 32
Figure 2.8. Numbers of Experimental points of CCD and BBD 36
Figure 2.9. SUGV Platform 38
Figure 2.10. CAD Design of SUGV 38
Figure 2.11. Antishock Wheel Design Verification by RecurDyn Simulator 39
Figure 2.12. SUGV Control System with Sensors 39
Figure 2.13. RSM Parameter Setting for Hole Sticking 40
Figure 2.14. RSM Parameter Setting for Turnover 41
Figure 2.15. Experiment environment for Hole Sticking 42
Figure 2.16. Response Surface Analysis for Hole Sticking 44
Figure 2.17. Contour Plot of θpitch vs. θflipper and Lhole[이미지참조] 45
Figure 2.18. Surface Plot of θpitch vs. θflipper and Lhole[이미지참조] 46
Figure 2.19. Optimal Values for Hole Sticking 46
Figure 2.20. Experiment Environment for Turnover 47
Figure 2.21. Response Surface Analysis for Turnover 48
Figure 2.22. Contour Plot of θpitch vs. θflipper and Lobstacle[이미지참조] 49
Figure 2.23. Surface Plot of θpnch vs. θflipper and Lobstacle[이미지참조] 49
Figure 2.24. Optimal Values for Turnover 50
Figure 3.1. Action Module Inventory for SUGV 52
Figure 3.2. Basic Motions of SUGV where SUGV motion is 000 53
Figure 3.3. Basic Motions of SUGV where SUGV motion is 100 54
Figure 3.4. Basic Motions of SUGV where SUGV motion is 200 55
Figure 3.5. SEC Backward Approach for Hole Sticking State 1 57
Figure 3.6. SEC Backward Approach for Hole Sticking State 2 58
Figure 3.7. SEC Forward Approach for Hole Sticking State 59
Figure 3.8. SEC Mixed Approach for Hole Sticking State 60
Figure 3.9. SEC for Turnover State 61
Figure 4.1. Inertia Measurement Unit 62
Figure 4.2. Motor Drive Unit 63
Figure 4.3. Sensor variation when SUGV is stopped 64
Figure 4.4. Sensor variation When SUGV is turned over 65
Figure 4.5. SEA for Hole Sticking : Backward approach 1 67
Figure 4.6. SEA for Hole Sticking : Backward approach 2 69
Figure 4.7. SEA for Hole Sticking : Forward approach 72
Figure 4.8. SEA for Hole Sticking : Mixed approach 76
Figure 4.9. SEA for Turnover State: Classification of Two SMS State 80
Figure 4.10. SEA for Turnover State 80
Figure 4.11. Integrated SEA for RES Environments 82