6족 해저로봇 CR200의 안정적 보행을 위한 제어 구조

Abstract

This paper presents a control architecture for stable gait of 200m-class subsea walking robot, named CR200, which can work in strong tidal current and high turbidity environment by crawling sea floor to survey shipwreck and scientific research. Operators control the CR200 using various programs running on computers in the remote control unit. Agent program is main software which interfaces remote control unit with the CR200, and controls joint action of legs in real-time by gait algorithm. Agent program includes control architecture for stable gait of the CR200. The control architecture consists of deliberative layer, execution layer, and hardware abstract layer. Deliberative layer is in charge of the high level control of the CR200 during posturing and walking. Deliberative layer does not consider detail process because execution layer includes most essential process of agent program. However, execution layer does not include hardware interface, but manages their data by virtual communication buffer provided by hardware abstract layer which allows execution layer to perform device-independent. Agent program should support real-time characteristic because the CR200 needs 100 Hz control frequency to move naturally. We have implemented soft real-time characteristic using software timer without real-time operating system.