168 0

이족 로봇의 급격한 주행 방향 전환

Title
이족 로봇의 급격한 주행 방향 전환
Other Titles
Rapid Change of Running Direction for Biped Robots
Author
강남구
Alternative Author(s)
Kang, Namgu
Advisor(s)
박종현
Issue Date
2015-02
Publisher
한양대학교
Degree
Master
Abstract
In this paper, a method for a biped robot to quickly change its running direction is proposed. To change the running direction of the biped robot, a rotation of its body is needed. When the robot rotates its body during a support phase, however, there may be a few constraints such as the limit of the workspace of hardware and the motion time. To deal with these constraints, the running direction of the biped robot is mostly changed during a flight phase. The rotational angular velocity for turning in a flight phase is generated during the preceding support phase. For changing the direction without a slip, the angular acceleration at which robot body rotates during a support phase is set using the dynamics of the robot and the information on the static friction torque at the supporting foot. The static friction torque is based on the estimate on the friction in order to avoid a foot slip. The biped robot is assumed to consist of a rigid body and a particle representing the upper body and the swing leg of the biped robot, respectively. The performance of the proposed method was verified in 3D computer simulations of a 12-DOF biped robot.
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/128630http://hanyang.dcollection.net/common/orgView/200000426453
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > INTELLIGENT ROBOT ENGINEERING(지능형로봇학과) > Theses (Master)
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE