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이족 보행 로봇을 위한 계층형 중추패턴발생기 개발

Title
이족 보행 로봇을 위한 계층형 중추패턴발생기 개발
Other Titles
Development of Hierarchical Central Pattern Generator Model for Locomotion of Biped Robots
Author
박종현
Keywords
이족 보행 로봇; 중추패턴발생기; 궤적 생성법; 계층형 중추패턴발생기; Biped Robot; Central Pattern Generator; Trajectory Generation Method; Hierarchical Central Pattern Generator Model
Issue Date
2012-11
Publisher
대한기계학회 / The Korean Society of Mechanical Engineers
Citation
대한기계학회 2012년도 추계학술대회 논문집, 2012, 2012(11), P.1163-1168
Abstract
Central Pattern Generator (CPG) developed from nervous system is used for a trajectory generation method of periodic motion of biped robot. When the CPG is applied to the robot, the gains of oscillator have to be changed whenever moving conditions are changed such as speed. To solve this problem, hierarchical CPG model is proposed in this paper. It consists of Slave Oscillator (SO), Master Oscillator (MO), and User’s Command (UC). SOs generate each joint trajectory and MO controls frequency and amplitude of SOs. UC can control MO to start, end, and change of all motion like velocity. The generated joint trajectory by SO is changed by effect of high command like UC or MO. Therefore proposed CPG can be easily use to a robot because effect of 게인 s is decreased to generate joint trajectory, even if walking conditions of the robot are changed. To prove that, a planar biped robot was simulated to walk by using proposed CPG model.
URI
http://www.dbpia.co.kr/Article/NODE02111843http://hdl.handle.net/20.500.11754/54195
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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