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영공간을 이용한 이족 보행 로봇의 안정적인 주행Stable Running of a Biped Robot by Using Null Space
- Other Titles
- Stable Running of a Biped Robot by Using Null Space
- Issue Date
- Dec-2013
- Publisher
- 대한기계학회
- Keywords
- Biped robot(이족보행로봇); Running; Stable running motion(안정적인 주행); Momentum control(운동량제어)
- Citation
- 대한기계학회 2013년도 학술대회, pp.1942 - 1946
- Indexed
- OTHER
- Journal Title
- 대한기계학회 2013년도 학술대회
- Start Page
- 1942
- End Page
- 1946
- 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.
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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)