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Biped Robot Walking on Uneven Terrain using Impedance Control and Terrain Recognition Algorithm

Title
Biped Robot Walking on Uneven Terrain using Impedance Control and Terrain Recognition Algorithm
Other Titles
임피던스 제어 및 지형 인식 알고리즘을 이용한 비평탄지형에서의 이족로봇 보행
Author
Yoo, Sung Min
Alternative Author(s)
유성민
Advisor(s)
박종현
Issue Date
2018-08
Publisher
한양대학교
Degree
Master
Abstract
This paper proposes the method for a biped robot to walk on uneven terrain. In order to generate the walking trajectory on flat terrain, the robot is modeled as one particle and the momentum equation with respect to its zero moment point is used. First, a method using impedance control to reduce the ground reaction force due to unexpected contact is proposed. Second, a method which reflects angle of terrain and height to the desired trajectory of biped robot to reduce the error of terrain information and to stabilize the biped robot walking on uneven terrain is proposed. The effectiveness of the proposed methods was proved in simulations.
URI
http://dcollection.hanyang.ac.kr/common/orgView/000000107547https://repository.hanyang.ac.kr/handle/20.500.11754/75574
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
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