Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 박종현 | - |
dc.date.accessioned | 2018-04-03T04:18:46Z | - |
dc.date.available | 2018-04-03T04:18:46Z | - |
dc.date.issued | 2013-12 | - |
dc.identifier.citation | 대한기계학회 춘추학술대회, 2013, p.1942-1946 | en_US |
dc.identifier.uri | http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02365785 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/56109 | - |
dc.description.abstract | In this paper, a method for stable running of a biped robot by using space is proposed. When a trajectory of a biped robot is generated by using IPM(Inverted pendulum model), the robot is assumed as a particle. Therefore, the robot can be unstable when momentum of the robot is changed. In order to solve the problem, resolved momentum control is used. Resolved momentum control is a method that generate angle of joints to satisfy a desired momentum. In this paper, Resolved momentum control is used for stable running. And space is used to prevent undesirable motion of robot. | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 대한기계학회 | en_US |
dc.subject | Biped robot | en_US |
dc.subject | Running, Stable running motion | en_US |
dc.subject | Momentum control | en_US |
dc.title | 영공간을 이용한 이족 보행 로봇의 안정적인 주행 | en_US |
dc.title.alternative | Stable Running of a Biped Robot by Using Null Space | en_US |
dc.type | Article | en_US |
dc.relation.page | 1942-1946 | - |
dc.contributor.googleauthor | 조재욱 | - |
dc.contributor.googleauthor | 황성욱 | - |
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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