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이족로봇의 뛰는 방향을 전환하는 방법

Title
이족로봇의 뛰는 방향을 전환하는 방법
Other Titles
Method to change the direction of biped robot running
Author
박종현
Keywords
Biped robot; Running; Direction changing method; Gravity Compensated Inverted Pendulum Model
Issue Date
2013-12
Publisher
대한기계학회
Citation
대한기계학회 춘추학술대회, 2013, p.1936-1941
Abstract
In this paper, direction changing method for running of biped robot is proposed. For changing direction of a biped robot, a rotation of its body are needed. In case of running, the robot can’t rotate its body enough because a time of a support phase is short. To solve the problem, the robot rotates its body during a flight phase by using angular velocity generated during the support phase. When the robot rotates its body during the support phase, a change of momentum occurs. The change of momentum was applied to its trajectory for stable running of the robot. Through this method, changing its direction stably with running is possible. The performance of proposed method is shown by computer simulation.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02365784http://hdl.handle.net/20.500.11754/56082
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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