Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 박종현 | - |
dc.date.accessioned | 2018-03-30T09:06:45Z | - |
dc.date.available | 2018-03-30T09:06:45Z | - |
dc.date.issued | 2012-04 | - |
dc.identifier.citation | 제어로봇시스템학회 국내학술대회 논문집, 2012, 2012(4), P.19-24, 6P. | en_US |
dc.identifier.uri | http://www.dbpia.co.kr/Article/NODE02036324 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/54515 | - |
dc.description.abstract | Main duty of a fashion model is natural and beautiful walking for representing the values of clothes. This model walking is fast and it has straight foot position almost of straight line. Because a biped robot cannot walk on the runway instead of a human walking model with existing walking methods such like LIPM, FFT, and so on, it has to choose a new trajectory generation method considering a human model walking. In this paper, we suggest an ellipsoidal trajectory generation method for a humanoid robot. This generated locomotion has an ellipsoidal shape normally. In this case, the stability condition is applied with feedback control against the steps not during supporting phage. We derived the center position of the ellipsoidal trajectory for walking stability and velocity translation. As results of simulation, a humanoid biped robot can walk like a model. | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 제어로봇시스템학회 | en_US |
dc.subject | Ellipsoidal Trajectory | en_US |
dc.subject | Biped Robot | en_US |
dc.subject | Model Walking | en_US |
dc.title | 인간형 로봇의 모델 보행을 위한 타원궤적 생성법 | en_US |
dc.title.alternative | Ellipsoidal Trajectory Generation Method for Model Walking of Humanoid Robots | en_US |
dc.type | Article | en_US |
dc.relation.page | 19-24 | - |
dc.contributor.googleauthor | 연제성 | - |
dc.contributor.googleauthor | 류제두 | - |
dc.contributor.googleauthor | 박종현 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | jongpark | - |
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