다수 체인과 다중 접촉 성격을 지닌 발 메커니즘에 대한 충격량 흡수 기반 해석
- Title
- 다수 체인과 다중 접촉 성격을 지닌 발 메커니즘에 대한 충격량 흡수 기반 해석
- Other Titles
- Analysis of Multi-Chained and Multiple Contact Characteristics of Foot Mechanisms in Aspect of Impulse Absorption
- Author
- 이병주
- Keywords
- External impact; Internal impact; Multiple contact; Foot mechanism
- Issue Date
- 2017-06
- Publisher
- 한국로봇학회
- Citation
- 로봇학회 논문지, v. 12, No. 2, Page. 161-172
- Abstract
- Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.
- URI
- http://db.koreascholar.com/Article?code=327151https://repository.hanyang.ac.kr/handle/20.500.11754/103436
- ISSN
- 2287-3961; 1975-6291
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML