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인간형 로봇의 모델 보행을 위한 타원궤적 생성법

Title
인간형 로봇의 모델 보행을 위한 타원궤적 생성법
Other Titles
Ellipsoidal Trajectory Generation Method for Model Walking of Humanoid Robots
Author
박종현
Keywords
Ellipsoidal Trajectory; Biped Robot; Model Walking
Issue Date
2012-04
Publisher
제어로봇시스템학회
Citation
제어로봇시스템학회 국내학술대회 논문집, 2012, 2012(4), P.19-24, 6P.
Abstract
Main duty of a fashion model is natural and beautiful walking for representing the values of clothes. This model walking is fast and it has straight foot position almost of straight line. Because a biped robot cannot walk on the runway instead of a human walking model with existing walking methods such like LIPM, FFT, and so on, it has to choose a new trajectory generation method considering a human model walking. In this paper, we suggest an ellipsoidal trajectory generation method for a humanoid robot. This generated locomotion has an ellipsoidal shape normally. In this case, the stability condition is applied with feedback control against the steps not during supporting phage. We derived the center position of the ellipsoidal trajectory for walking stability and velocity translation. As results of simulation, a humanoid biped robot can walk like a model.
URI
http://www.dbpia.co.kr/Article/NODE02036324http://hdl.handle.net/20.500.11754/54515
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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