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바이페드 로봇의 경사면 전방향 보행을 위한 궤적 생성 방법

Title
바이페드 로봇의 경사면 전방향 보행을 위한 궤적 생성 방법
Other Titles
Trajectory Generation Method of Biped Robot for All Direction Walking on the Sloping Surface
Author
박종현
Keywords
2족 보행 로봇; 경사면; 전방향 보행; 궤적 생성 방법; 선형 역진자 모델; Biped robot; Sloping surface; Locomotion of all directions; Trajectory generation method; LIPM
Issue Date
2012-11
Publisher
대한기계학회 / The Korean Society of Mechanical Engineers
Citation
대한기계학회 춘추학술대회, 2012, 2012(11), P.1179-1184, 6P.
Abstract
In this paper, the trajectory generation method to make the biped robot walk in every direction on the sloping surface is proposed. In order to simplify the biped robot, the robot is assumed to be one particle, and reference coordinate is established to generate stable trajectory of biped robot on the sloping surface and towards direction of locomotion appropriately. The moment equation based on reference coordinate is set up and is used to generate trajectory of sagittal plane and lateral plane. Since this trajectory generation method considers direction of robot locomotion and angle of inclination, it makes the biped robot walk on the sloping surface stably. Biped robot can walk on the sloping surface by using proposed method without any control algorithm. The effectiveness of proposed method was proved by using computer simulation.
URI
http://www.dbpia.co.kr/Article/NODE02111848http://hdl.handle.net/20.500.11754/54196
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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