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Rapid Change of Running Direction for Biped Robots

Title
Rapid Change of Running Direction for Biped Robots
Author
박종현
Keywords
Robotics and Control Systems; Trajectory; Legged locomotion; Foot; Robot kinematics; Angular velocity; Computational modeling
Issue Date
2014-11
Publisher
IEEE
Citation
Humanoid Robots, Nov 2014, 2014, P.475-480
Abstract
In this paper, a method for a biped to quickly change its running direction is proposed. To change the running direction of the biped robot, a rotation of the body is needed. When the robot rotates its body during a support phase, however, there may be a few limitations such as the workspace of hardware and the time. To overcome these limitations, the running direction of the biped robot is changed during a flight phase as well as a support phase. The angular velocity for turning in a flight phase is generated during a support phase by rotating the body. The biped robot is assumed as a model that consists of a rigid body and a particle. The rigid body and the particle mean the upper body of the robot and the swing leg, respectively. By using this model, an effect of angular momentum that generated by rotation of the swing leg is reduced. The performance of the proposed method is verified in computer 3D simulations of a biped robot.
URI
http://ieeexplore.ieee.org/abstract/document/7041404/http://hdl.handle.net/20.500.11754/54370
ISSN
2164-0572; 2164-0580
DOI
10.1109/HUMANOIDS.2014.7041404
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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