Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2021-01-08T04:51:20Z | - |
dc.date.available | 2021-01-08T04:51:20Z | - |
dc.date.issued | 2002-03 | - |
dc.identifier.citation | 제어로봇시스템학회 논문지, v. 8, no. 3, page. 226-232 | en_US |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.issn | 2233-4335 | - |
dc.identifier.uri | http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01968540 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/156779 | - |
dc.description.abstract | In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated. | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 제어로봇시스템학회 | en_US |
dc.subject | four-bar mechanism | en_US |
dc.subject | quasi-static crawling | en_US |
dc.subject | gait | en_US |
dc.subject | force analysis | en_US |
dc.title | 4절 메커니즘을 이용한 준정적 포복 시스템 | en_US |
dc.title.alternative | Quasi-Static Crawling System Using a Four Bar Mechanism | en_US |
dc.type | Article | en_US |
dc.relation.journal | 제어·자동화·시스템공학논문지 | - |
dc.contributor.googleauthor | 김해수 | - |
dc.contributor.googleauthor | 김민건 | - |
dc.contributor.googleauthor | 임남식 | - |
dc.contributor.googleauthor | 김희국 | - |
dc.contributor.googleauthor | 이병주 | - |
dc.relation.code | 2012210710 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | bj | - |
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