31 0

4 족 견마형 로봇의 동작 생성 및 제어에 관한 실험적 연구

Title
4 족 견마형 로봇의 동작 생성 및 제어에 관한 실험적 연구
Other Titles
Experimental Study on Motion Generation and Control of Quadruped Robot
Author
한창수
Keywords
Locomotion Stability(보행 안정성); Locomotion Algorithm(보행 알고리즘); Quadruped Robot(4 족 로봇); Stability margin(안정 여유); Torque analysis(관절 토크 분석)
Issue Date
2007-05
Publisher
대한기계학회
Citation
대한기계학회 2007년도 춘계학술대회 강연 및 논문 초록집, Page. 118 - 123
Abstract
Quadruped robot is very useful mechanism for a various area. Recently, home entertainment and military robots adapted quadruped platform and useful function have been introduced. Our goal is the development of quadruped robot locomotion for any type of ground included to sloping one and irregular terrain. This paper, as a first step, deals with design and construction of quadruped robot walking on the flat ground. The most important factor of quadruped robot is stability of locomotion. At first, we introduce the developed quadruped robot based on dynamic simulation and experimental study of general gait algorithm. Finally, propose unique locomotion proper to our mechanism. Future work of this study is the performance test and analysis on the ground of various conditions and proposes the improved mechanism and gait algorithm.
URI
http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00850827&language=ko_KR#nonehttp://repository.hanyang.ac.kr/handle/20.500.11754/106547
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE