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휴머노이드의 밀기 복귀위한 충격위치 추정 및 가변적인 모션 생성

Title
휴머노이드의 밀기 복귀위한 충격위치 추정 및 가변적인 모션 생성
Other Titles
Impact Position Estimation and Variable Motion Generation for Push Recovery of Humanoid Robot
Author
조윤성
Alternative Author(s)
Cho, Yun Sung
Advisor(s)
박종현
Issue Date
2016-02
Publisher
한양대학교
Degree
Master
Abstract
This paper proposes the variable motion according to the position of an impact in Push recovery. In light of the various motions shown by the humans according to the position of an impact, the motion of a robot also requires efficient motions according to the position of the impact. Besides, the estimation of the position of the impact shall be operable in the basic humanoid system without any separate system device. For this condition, in this paper, the position of an impact was estimated by using the impact dynamics equation and kinematic condition. The variable trajectory according to the impact generated biodynamic motions by replicating human motions. This motion generates the counter torque by gradually reducing both linear and angular velocity at the position of the impact, and concurrently shifting the center of mass. Furthermore, in order to resolve the problem of limitations of a joint, an additional trajectory was designed. To verify the proposed method, its function was verified and assessed by a computer simulation.
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/127059http://hanyang.dcollection.net/common/orgView/200000429056
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
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