산기협 특별강좌 - 지능형 로봇기술 : Posture/Walking Control for Humanoid Robot
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2021-06-23T03:51:56Z | - |
dc.date.available | 2021-06-23T03:51:56Z | - |
dc.date.issued | 2006-03-08 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/28778 | - |
dc.description.abstract | This paper proposes the walking pattern generation method, the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions, and the design method of posture/ walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during the movement of the all other limbs. Actually, it offers the ability of WBC(whole body coordination) to the humanoid robot. Third, the posture/walking controller is composed of the CoM controller minus the ZMP(zero momentum point) controller. Also, we show that the proposed posture/walking controller brings the ISS(disturbance input-to-state stability) for the simplified bipedal walking robot model. Finally, the effectiveness of the proposed kinematic resolution method and posture/walking controller is shown through experiments in regard to the dancing and walking of humanoid robot. | - |
dc.title | 산기협 특별강좌 - 지능형 로봇기술 : Posture/Walking Control for Humanoid Robot | - |
dc.type | Conference | - |
dc.citation.conferenceName | 산학연 연구인력 교육훈련 사업 전문기술 교육과정 | - |
dc.citation.conferencePlace | 한국과학기술연구원(KIST) | - |
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