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바이패드 로봇의 순응 밀기 복귀

Title
바이패드 로봇의 순응 밀기 복귀
Other Titles
Adaptive Push Recovery for Biped Robot
Author
박종현
Keywords
Push Recovery; Biped Robot; Positive torque Feedback; 밀기 복귀; 2족 로봇; 양성 토크 피드백
Issue Date
2015-11
Publisher
대한기계학회
Citation
대한기계학회 창립 70주년 기념 학술대회, 2015.11, Page. 3569-3573
Abstract
This paper proposes an extended push recovery method for biped robots. This proposal is robust to various kind of impact while minimizing unnecessary movements. This strategy is consisted of three steps. Firstly, local errors of joint and IMU were used to detect impact. Secondly, positive torque feedback is used on PD controller. This strategy makes gain of leg joints to be compliant. Lastly, rotational and flexible trajectory that are used to adapt proper locomotion is made. By using this strategy, biped robot can maintain its stability. The effectiveness of proposed method is proved by using computer simulation.
URI
http://www.dbpia.co.kr/Article/NODE06576424http://hdl.handle.net/20.500.11754/28884
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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