Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 박종현 | - |
dc.date.accessioned | 2018-04-14T10:08:54Z | - |
dc.date.available | 2018-04-14T10:08:54Z | - |
dc.date.issued | 2011-11 | - |
dc.identifier.citation | 대한기계학회 논문집, 2011, P.863-867 | en_US |
dc.identifier.uri | http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02041744 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/66137 | - |
dc.description.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). | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 대한기계학회 | en_US |
dc.subject | 이족보행로봇 | en_US |
dc.subject | 상체 동작 | en_US |
dc.subject | 안정적으로 뛰는 동작 | en_US |
dc.subject | 각운동량제어기법 | en_US |
dc.subject | 역진자모델 | en_US |
dc.subject | Biped Robot | en_US |
dc.subject | Upper Body Motion | en_US |
dc.subject | Stable Running Motion | en_US |
dc.subject | Angular Momentum Control | en_US |
dc.subject | LIPM | en_US |
dc.title | 각운동량제어를 통한 이족보행로봇의 안정적인 뛰는 동작 생성 | en_US |
dc.title.alternative | Generating Stable Running Motion of Biped Robot by Control of Angular Momentum | en_US |
dc.type | Article | en_US |
dc.relation.page | 863-867 | - |
dc.contributor.googleauthor | 최시명 | - |
dc.contributor.googleauthor | 연제성 | - |
dc.contributor.googleauthor | 박종현 | - |
dc.contributor.googleauthor | Choi, See Myoung | - |
dc.contributor.googleauthor | Yeon, Je Sung | - |
dc.contributor.googleauthor | Park, Jong Hyeon | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | jongpark | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.