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각운동량제어를 통한 이족보행로봇의 안정적인 뛰는 동작 생성

Title
각운동량제어를 통한 이족보행로봇의 안정적인 뛰는 동작 생성
Other Titles
Generating Stable Running Motion of Biped Robot by Control of Angular Momentum
Author
박종현
Keywords
이족보행로봇; 상체 동작; 안정적으로 뛰는 동작; 각운동량제어기법; 역진자모델; Biped Robot; Upper Body Motion; Stable Running Motion; Angular Momentum Control; LIPM
Issue Date
2011-11
Publisher
대한기계학회
Citation
대한기계학회 논문집, 2011, P.863-867
Abstract
This paper proposes angular momentum control for stable running motion of a biped robot. When a biped robot runs, internal motion in support and flight phase of a biped robot generates the rate of angular momentum, which is able to cause instability. In this case, stability of a biped robot can be maintained by controlling angular momentum of whole robot body. LIPM(Linear Inverted Pendulum Mode) is used to generate trajectory of center of mass. The effectiveness and the performance of the proposed control algorithm are shown in computer simulations with a 28-degree-of-freedom(DOF).
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02041744http://hdl.handle.net/20.500.11754/66137
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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