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영공간을 이용한 이족 보행 로봇의 안정적인 주행

Title
영공간을 이용한 이족 보행 로봇의 안정적인 주행
Other Titles
Stable Running of a Biped Robot by Using Null Space
Author
박종현
Keywords
Biped robot; Running, Stable running motion; Momentum control
Issue Date
2013-12
Publisher
대한기계학회
Citation
대한기계학회 춘추학술대회, 2013, p.1942-1946
Abstract
In this paper, a method for stable running of a biped robot by using space is proposed. When a trajectory of a biped robot is generated by using IPM(Inverted pendulum model), the robot is assumed as a particle. Therefore, the robot can be unstable when momentum of the robot is changed. In order to solve the problem, resolved momentum control is used. Resolved momentum control is a method that generate angle of joints to satisfy a desired momentum. In this paper, Resolved momentum control is used for stable running. And space is used to prevent undesirable motion of robot.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02365785http://hdl.handle.net/20.500.11754/56109
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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