다수 체인과 다중 접촉 성격을 지닌 발 메커니즘에 대한 충격량 흡수 기반 해석Analysis of Multi-Chained and Multiple Contact Characteristics of Foot Mechanisms in Aspect of Impulse Absorption
- Other Titles
- Analysis of Multi-Chained and Multiple Contact Characteristics of Foot Mechanisms in Aspect of Impulse Absorption
- Authors
- 서종태; 오세민; 이병주
- Issue Date
- May-2017
- Publisher
- 한국로봇학회
- Keywords
- External impact; Internal impact; Multiple contact; Foot mechanism.
- Citation
- 로봇학회 논문지, v.12, no.2, pp.161 - 172
- Indexed
- KCI
- Journal Title
- 로봇학회 논문지
- Volume
- 12
- Number
- 2
- Start Page
- 161
- End Page
- 172
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/11140
- ISSN
- 1975-6291
- Abstract
- Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.
- Files in This Item
-
Go to Link
- Appears in
Collections - COLLEGE OF ENGINEERING SCIENCES > SCHOOL OF ELECTRICAL ENGINEERING > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.