A composite algorithm for flow rate reduction and stable body trajectory generation in a hydraulic actuated quadruped robot with kinematic redundancy
DC Field | Value | Language |
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dc.contributor.author | Kim, Taeju | - |
dc.contributor.author | Park, Sangdeok | - |
dc.contributor.author | Yi, Byung ju | - |
dc.date.accessioned | 2021-06-23T12:04:49Z | - |
dc.date.available | 2021-06-23T12:04:49Z | - |
dc.date.created | 2021-01-22 | - |
dc.date.issued | 2011-08 | - |
dc.identifier.issn | 2152-7431 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/39136 | - |
dc.description.abstract | A hydraulic actuator has a various merits. It has a small size and a high power-to-weight ratio. So it is able to generate high torque in small size actuator. These features of hydraulic actuator are very useful for a walking robot. However, the hydraulic actuator needs a hydraulic power-pack which supplies pressure and flow. Usually, a big and heavy power-pack is needed to generate high pressure and large flow rate. Especially this power-pack is a burden to the stand alone type robot. Therefore it is very important o minimize the size of the power-pack. In this paper, we propose a redundantly actuated quadruped robot which is driven by hydraulic actuator. Using the kinematic redundancy of each leg mechanism, a flow rate consumption minimization algorithm is proposed, which allows minimizing the size of a power-pack. We demonstrate the reduction of the flow rate of the robot through simulation and experiment. © 2011 IEEE. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | A composite algorithm for flow rate reduction and stable body trajectory generation in a hydraulic actuated quadruped robot with kinematic redundancy | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Yi, Byung ju | - |
dc.identifier.doi | 10.1109/ICMA.2011.5985681 | - |
dc.identifier.scopusid | 2-s2.0-81055127033 | - |
dc.identifier.bibliographicCitation | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp.343 - 348 | - |
dc.relation.isPartOf | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 | - |
dc.citation.title | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 | - |
dc.citation.startPage | 343 | - |
dc.citation.endPage | 348 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Composite algorithm | - |
dc.subject.keywordPlus | High pressure | - |
dc.subject.keywordPlus | High torque | - |
dc.subject.keywordPlus | Hydraulic actuator | - |
dc.subject.keywordPlus | Kinematic redundancy | - |
dc.subject.keywordPlus | Large flow rate | - |
dc.subject.keywordPlus | Leg mechanism | - |
dc.subject.keywordPlus | Legged robots | - |
dc.subject.keywordPlus | Minimization algorithms | - |
dc.subject.keywordPlus | Power-to-weight ratios | - |
dc.subject.keywordPlus | Quadruped Robots | - |
dc.subject.keywordPlus | Rate reduction | - |
dc.subject.keywordPlus | Redundancy Resolution | - |
dc.subject.keywordPlus | Small size | - |
dc.subject.keywordPlus | Stand -alone | - |
dc.subject.keywordPlus | Trajectory generation | - |
dc.subject.keywordPlus | Walking robots | - |
dc.subject.keywordPlus | Algorithms | - |
dc.subject.keywordPlus | Flow rate | - |
dc.subject.keywordPlus | Hydraulic equipment | - |
dc.subject.keywordPlus | Kinematics | - |
dc.subject.keywordPlus | Multipurpose robots | - |
dc.subject.keywordPlus | Redundancy | - |
dc.subject.keywordPlus | Redundant manipulators | - |
dc.subject.keywordPlus | Actuators | - |
dc.subject.keywordAuthor | Hydraulic Actuated Robot | - |
dc.subject.keywordAuthor | Legged Robot | - |
dc.subject.keywordAuthor | Redundancy Resolution | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/5985681 | - |
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