하이브리드 시스템 방법을 이용한 이족보행 로봇의 보행 알고리즘Walking Algorithm of Biped Robots using Hybrid System Approach
- Other Titles
- Walking Algorithm of Biped Robots using Hybrid System Approach
- Authors
- 주정현; 임미섭; 임준홍
- Issue Date
- Oct-2005
- Publisher
- 대한전기학회
- Keywords
- biped robot; stretch walking; hybrid system
- Citation
- 2005년도 정보 및 제어 학술대회(CICS 05) 논문집, pp 249 - 251
- Pages
- 3
- Indexed
- OTHER
- Journal Title
- 2005년도 정보 및 제어 학술대회(CICS 05) 논문집
- Start Page
- 249
- End Page
- 251
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/45671
- Abstract
- For walking patterns of biped robots, knee-bent patterns are used in most cases. However, humans are mostly walking with their knees nearly stretched. In this paper, a human-like walking algorithm using hybrid system is proposed for biped robots. The hybrid system consists of the logically constituted discrete system, in which the discrete states are defined by considering the walking characteristics, and the continuous state system used for motor control. It is shown that the proposed algorithm is effective by experimental studies.
- 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.