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동역학적 방법을 이용한 4족 로봇의 트롯 궤적 생성

Title
동역학적 방법을 이용한 4족 로봇의 트롯 궤적 생성
Other Titles
Trotting trajectory generation of quadruped robot based on dynamic method
Author
박종현
Keywords
Qudruped Robot; Torrting; Trajectory generation
Issue Date
2013-12
Publisher
대한기계학회
Citation
대한기계학회 춘추학술대회, 2013, p.2169-2172
Abstract
In this paper, a trot trajectory of quadruped robot was generated using a dynamic method. Trotting method is moving two foot located on the diagonal line simultaneously. An appropriate trajectory generation is required to walk stably through the method. Its body trajectory is generated under an assumption that the robot is a particle. The trajectory makes Zero Moment Point(ZMP) of the robot located in the middle of the two supporting feet. The foot trajectory is generated by a sine wave for periodic motion of the foot. The proposed trajectory generation method was verified through simulation.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02365854http://hdl.handle.net/20.500.11754/56158
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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