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동역학적 방법을 이용한 4족 로봇의 트롯 궤적 생성Trotting trajectory generation of quadruped robot based on dynamic method
- Other Titles
- Trotting trajectory generation of quadruped robot based on dynamic method
- Issue Date
- Dec-2013
- Publisher
- 대한기계학회
- Keywords
- Qudruped Robot(4족 로봇); Torrting(트롯보행); Trajectory generation(궤적 생성)
- Citation
- 대한기계학회 2013년도 학술대회, pp.2169 - 2172
- Indexed
- OTHER
- Journal Title
- 대한기계학회 2013년도 학술대회
- Start Page
- 2169
- End Page
- 2172
- Abstract
- In this paper, a trot trajectory of quadruped robot was generated using a dynamic method. Trotting method is moving two foot located on the diagonal line simultaneously. An appropriate trajectory generation is required to walk stably through the method. Its body trajectory is generated under an assumption that the robot is a particle. The trajectory makes Zero Moment Point(ZMP) of the robot located in the middle of the two supporting feet. The foot trajectory is generated by a sine wave for periodic motion of the foot. The proposed trajectory generation method was verified through 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)