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dc.contributor.author박종현-
dc.date.accessioned2017-09-05T01:39:20Z-
dc.date.available2017-09-05T01:39:20Z-
dc.date.issued2015-11-
dc.identifier.citation대한기계학회 창립 70주년 기념 학술대회, 2015.11, Page. 3569-3573en_US
dc.identifier.urihttp://www.dbpia.co.kr/Article/NODE06576424-
dc.identifier.urihttp://hdl.handle.net/20.500.11754/28884-
dc.description.abstractThis 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.en_US
dc.language.isoko_KRen_US
dc.publisher대한기계학회en_US
dc.subjectPush Recoveryen_US
dc.subjectBiped Roboten_US
dc.subjectPositive torque Feedbacken_US
dc.subject밀기 복귀en_US
dc.subject2족 로봇en_US
dc.subject양성 토크 피드백en_US
dc.title바이패드 로봇의 순응 밀기 복귀en_US
dc.title.alternativeAdaptive Push Recovery for Biped Roboten_US
dc.typeArticleen_US
dc.relation.page3569-3573-
dc.contributor.googleauthor조윤성-
dc.contributor.googleauthor조재욱-
dc.contributor.googleauthor박종현-
dc.contributor.googleauthorCho, Yun Sung-
dc.contributor.googleauthorCho, Jae Uk-
dc.contributor.googleauthorPark, Jong Hyeon-
dc.sector.campusS-
dc.sector.daehakCOLLEGE OF ENGINEERING[S]-
dc.sector.departmentDIVISION OF MECHANICAL ENGINEERING-
dc.identifier.pidjongpark-
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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