이족로봇의 뛰는 방향을 전환하는 방법

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.