바이패드 로봇의 순응 밀기 복귀
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 조윤성 | - |
dc.contributor.author | 조재욱 | - |
dc.contributor.author | 박종현 | - |
dc.date.accessioned | 2022-07-15T20:11:34Z | - |
dc.date.available | 2022-07-15T20:11:34Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2015-11 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/155864 | - |
dc.description.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. | - |
dc.language | 한국어 | - |
dc.language.iso | ko | - |
dc.publisher | 대한기계학회 | - |
dc.title | 바이패드 로봇의 순응 밀기 복귀 | - |
dc.title.alternative | Adaptive Push Recovery for Biped Robot | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 박종현 | - |
dc.identifier.bibliographicCitation | 대한기계학회 창립 70주년 기념 학술대회, pp.3569 - 3573 | - |
dc.relation.isPartOf | 대한기계학회 창립 70주년 기념 학술대회 | - |
dc.citation.title | 대한기계학회 창립 70주년 기념 학술대회 | - |
dc.citation.startPage | 3569 | - |
dc.citation.endPage | 3573 | - |
dc.type.rims | ART | - |
dc.type.docType | Proceeding | - |
dc.description.journalClass | 3 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | other | - |
dc.subject.keywordAuthor | Push Recovery(밀기 복귀) | - |
dc.subject.keywordAuthor | Biped Robot(2족 로봇) | - |
dc.subject.keywordAuthor | Positive torque Feedback(양성 토크 피드백) | - |
dc.identifier.url | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE06576424 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.