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dc.contributor.author임준홍-
dc.date.accessioned2019-08-14T07:13:48Z-
dc.date.available2019-08-14T07:13:48Z-
dc.date.issued2006-10-
dc.identifier.citationCICS";06 정보 및 제어 학술대회 논문집, Page. 530 - 532en_US
dc.identifier.urihttp://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01346192&language=ko_KR-
dc.identifier.urihttp://repository.hanyang.ac.kr/handle/20.500.11754/108629-
dc.description.abstractIn this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, nat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.en_US
dc.language.isoko_KRen_US
dc.publisher대한전기학회en_US
dc.subjectbiped roboten_US
dc.subjectZMPen_US
dc.subjecthybrid systemen_US
dc.subjectslope wayen_US
dc.titleZero Moment Point를 이용한 이족보행로봇의 경사로 걸음새 제어에 관한 연구en_US
dc.title.alternativeGait Control on Slope Way using Zero Moment Point for Roboten_US
dc.typeArticleen_US
dc.contributor.googleauthor엄승현-
dc.contributor.googleauthor임미섭-
dc.contributor.googleauthor임준홍-
dc.sector.campusE-
dc.sector.daehakCOLLEGE OF ENGINEERING SCIENCES[E]-
dc.sector.departmentDIVISION OF ELECTRICAL ENGINEERING-
dc.identifier.pidjhlim-
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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