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이족로봇의 뛰는 방향을 전환하는 방법Method to change the direction of biped robot running
- Other Titles
- Method to change the direction of biped robot running
- Issue Date
- Dec-2013
- Publisher
- 대한기계학회
- Keywords
- Biped robot(이족로봇); Running(달리기); Direction changing method(방향 전환 방법); Gravity Compensated Inverted Pendulum Model(중력 보상 역진자 모델)
- Citation
- 대한기계학회 2013년도 학술대회, pp.1936 - 1941
- Indexed
- OTHER
- Journal Title
- 대한기계학회 2013년도 학술대회
- Start Page
- 1936
- End Page
- 1941
- Abstract
- In this paper, direction changing method for running of biped robot is proposed. For changing direction of a biped robot, a rotation of its body are needed. In case of running, the robot can’t rotate its body enough because a time of a support phase is short. To solve the problem, the robot rotates its body during a flight phase by using angular velocity generated during the support phase. When the robot rotates its body during the support phase, a change of momentum occurs. The change of momentum was applied to its trajectory for stable running of the robot. Through this method, changing its direction stably with running is possible. The performance of proposed method is shown by computer simulation.
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Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
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