4 족 견마형 로봇의 동작 생성 및 제어에 관한 실험적 연구
- Title
- 4 족 견마형 로봇의 동작 생성 및 제어에 관한 실험적 연구
- Other Titles
- Experimental Study on Motion Generation and Control of Quadruped Robot
- Author
- 한창수
- Keywords
- Locomotion Stability(보행 안정성); Locomotion Algorithm(보행 알고리즘); Quadruped Robot(4 족 로봇); Stability margin(안정 여유); Torque analysis(관절 토크 분석)
- Issue Date
- 2007-05
- Publisher
- 대한기계학회
- Citation
- 대한기계학회 2007년도 춘계학술대회 강연 및 논문 초록집, Page. 118 - 123
- Abstract
- Quadruped robot is very useful mechanism for a various area. Recently, home entertainment and military robots adapted quadruped platform and useful function have been introduced. Our goal is the development of quadruped robot locomotion for any type of ground included to sloping one and irregular terrain. This paper, as a first step, deals with design and construction of quadruped robot walking on the flat ground. The most important factor of quadruped robot is stability of locomotion. At first, we introduce the developed quadruped robot based on dynamic simulation and experimental study of general gait algorithm. Finally, propose unique locomotion proper to our mechanism. Future work of this study is the performance test and analysis on the ground of various conditions and proposes the improved mechanism and gait algorithm.
- URI
- http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00850827&language=ko_KR#nonehttps://repository.hanyang.ac.kr/handle/20.500.11754/106547
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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