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인체근육 구조 인간형 로봇의 모델링 및 구현Modeling and Development of Human-Muscle Type Humanoid
- Other Titles
- Modeling and Development of Human-Muscle Type Humanoid
- Issue Date
- Feb-2007
- Publisher
- 한국정밀공학회
- Keywords
- Redundant Actuation(여유구동); Humanoid(인간형 로봇); Kinematics(운동학); Force transmissionratio(힘전달비); Musculoskeletal system(근골격형 시스템); Redundant Actuation(여유구동); Humanoid(인간형 로봇); Kinematics(운동학); Force transmissionratio(힘전달비); Musculoskeletal system(근골격형 시스템)
- Citation
- 한국정밀공학회지, v.24, no.2, pp 64 - 72
- Pages
- 9
- Indexed
- KCI
- Journal Title
- 한국정밀공학회지
- Volume
- 24
- Number
- 2
- Start Page
- 64
- End Page
- 72
- ISSN
- 1225-9071
2287-8769
- Abstract
- Many human-body motions such as walking, running, jumping, etc. require a significant amount of power. To achieve a high power-to-weight ratio of the humanoid robot system, this paper proposes a new design of the bio-mimetic leg mechanism resembling musculoskeletal system of the human body. The hip joints of the system considered here are powered by 5 human-like bi- and mono-articular muscles, and the joints of knee and ankle are redundantly actuated by both bi-articular muscles and joint actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant muscles into the leg mechanism enhances the power of the mechanism approximately 2 times of the minimum actuation.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)