Stable running velocity change of biped robot based on virtual torque
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Cho, Jae Uk | - |
dc.contributor.author | Yeon, Je Sung | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.date.accessioned | 2022-07-16T12:16:19Z | - |
dc.date.available | 2022-07-16T12:16:19Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2012-12 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/163992 | - |
dc.description.abstract | This paper proposes a method to generate a stable running trajectory for a biped robot based on virtual torque at the stepping foot for velocity changes. For a velocity change, an external force is necessary, which is generated by moving the ZMP (Zero Moment Point). Moving the ZMP has the same effect as applying a virtual torque at the foot on the ground. By using this method, the velocity of a biped robot can be changed. When a running trajectory for a biped robot is generated based on its model modeled with a single particle, the dynamics of the real robot which has relatively large mass of the swing legs could make the biped robot motion unstable. Based on the gravity-compensated inverted pendulum model with the virtual torque at the stepping foot, a trajectory resulting in stable velocity changes is generated. The effectiveness and the improvements in the performance of the proposed method were shown in computer simulations with a 2D biped robot. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Stable running velocity change of biped robot based on virtual torque | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1109/ROBIO.2012.6490983 | - |
dc.identifier.scopusid | 2-s2.0-84876462332 | - |
dc.identifier.bibliographicCitation | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp.301 - 306 | - |
dc.relation.isPartOf | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest | - |
dc.citation.title | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest | - |
dc.citation.startPage | 301 | - |
dc.citation.endPage | 306 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Biped Robot | - |
dc.subject.keywordPlus | External force | - |
dc.subject.keywordPlus | Inverted pendulum model | - |
dc.subject.keywordPlus | Real robot | - |
dc.subject.keywordPlus | Single particle | - |
dc.subject.keywordPlus | Velocity changes | - |
dc.subject.keywordPlus | Virtual torque | - |
dc.subject.keywordPlus | ZMP (zero moment point) | - |
dc.subject.keywordPlus | Biomimetics | - |
dc.subject.keywordPlus | Computer simulation | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Trajectories | - |
dc.subject.keywordPlus | Velocity | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/6490983 | - |
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