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영공간을 이용한 이족 보행 로봇의 안정적인 주행
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 조재욱 | - |
| dc.contributor.author | 황성욱 | - |
| dc.contributor.author | 박종현 | - |
| dc.date.accessioned | 2022-07-16T06:51:51Z | - |
| dc.date.available | 2022-07-16T06:51:51Z | - |
| dc.date.created | 2021-05-13 | - |
| dc.date.issued | 2013-12 | - |
| dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/161098 | - |
| dc.description.abstract | In this paper, a method for stable running of a biped robot by using null space is proposed. When a trajectory of a biped robot is generated by using IPM(Inverted pendulum model), the robot is assumed as a particle. Therefore, the robot can be unstable when momentum of the robot is changed. In order to solve the problem, resolved momentum control is used. Resolved momentum control is a method that generate angle of joints to satisfy a desired momentum. In this paper, Resolved momentum control is used for stable running. And null space is used to prevent undesirable motion of robot. | - |
| dc.language | 한국어 | - |
| dc.language.iso | ko | - |
| dc.publisher | 대한기계학회 | - |
| dc.title | 영공간을 이용한 이족 보행 로봇의 안정적인 주행 | - |
| dc.title.alternative | Stable Running of a Biped Robot by Using Null Space | - |
| dc.type | Article | - |
| dc.contributor.affiliatedAuthor | 박종현 | - |
| dc.identifier.bibliographicCitation | 대한기계학회 2013년도 학술대회, pp.1942 - 1946 | - |
| dc.relation.isPartOf | 대한기계학회 2013년도 학술대회 | - |
| dc.citation.title | 대한기계학회 2013년도 학술대회 | - |
| dc.citation.startPage | 1942 | - |
| dc.citation.endPage | 1946 | - |
| dc.type.rims | ART | - |
| dc.type.docType | Proceeding | - |
| dc.description.journalClass | 3 | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | other | - |
| dc.subject.keywordAuthor | Biped robot(이족보행로봇) | - |
| dc.subject.keywordAuthor | Running | - |
| dc.subject.keywordAuthor | Stable running motion(안정적인 주행) | - |
| dc.subject.keywordAuthor | Momentum control(운동량제어) | - |
| dc.identifier.url | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE02365785 | - |
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