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바이패드 로봇의 순응 밀기 복귀Adaptive Push Recovery for Biped Robot
- Other Titles
- Adaptive Push Recovery for Biped Robot
- Issue Date
- Nov-2015
- Publisher
- 대한기계학회
- Keywords
- Push Recovery(밀기 복귀); Biped Robot(2족 로봇); Positive torque Feedback(양성 토크 피드백)
- Citation
- 대한기계학회 창립 70주년 기념 학술대회, pp.3569 - 3573
- Indexed
- OTHER
- Journal Title
- 대한기계학회 창립 70주년 기념 학술대회
- Start Page
- 3569
- End Page
- 3573
- Abstract
- This paper proposes an extended push recovery method for biped robots. This proposal is robust to various kind of impact while minimizing unnecessary movements. This strategy is consisted of three steps. Firstly, local errors of joint and IMU were used to detect impact. Secondly, positive torque feedback is used on PD controller. This strategy makes gain of leg joints to be compliant. Lastly, rotational and flexible trajectory that are used to adapt proper locomotion is made. By using this strategy, biped robot can maintain its stability. The effectiveness of proposed method is proved by using computer simulation.
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Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
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Related Researcher
- Park, Jong Hyeon
- COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)