Trajectory Generation using Rimless Wheel Model for Walking of Biped Robots
- Title
- Trajectory Generation using Rimless Wheel Model for Walking of Biped Robots
- Author
- 조성욱
- Alternative Author(s)
- Jo SungWook
- Advisor(s)
- 박종현
- Issue Date
- 2015-08
- Publisher
- 한양대학교
- Degree
- Master
- Abstract
- The purpose of this paper is generate a natural walking trajectory of a human for biped robots using a rimless wheel model (RWM). To apply the RWM, the central
axle of the wheel is matched to the pelvic joint and the spokes to the legs.
The leg trajectory is created to mimic the motion of the spokes as they make contacts with the ground while imaginary rimless wheel rotates. A motion of a leg is
divided into five-phases (heel contact, toe contact, mid stance, heel off and toe off) similar to human walking. The interval of each phase is adjusted in order to Zero
Moment Point (ZMP) is remains in the stable area.
Computer simulations shows that the proposed method walks well even with a modest change in the speed.
- URI
- https://repository.hanyang.ac.kr/handle/20.500.11754/127704http://hanyang.dcollection.net/common/orgView/200000427124
- Appears in Collections:
- GRADUATE SCHOOL[S](대학원) > INTELLIGENT ROBOT ENGINEERING(지능형로봇학과) > Theses (Master)
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