바이페드 로봇의 경사면 전방향 보행을 위한 궤적 생성 방법Trajectory Generation Method of Biped Robot for All Direction Walking on the Sloping Surface
- Other Titles
- Trajectory Generation Method of Biped Robot for All Direction Walking on the Sloping Surface
- Authors
- 황성욱; 조재욱; 연제성; 박종현
- Issue Date
- Nov-2012
- Publisher
- 대한기계학회
- Keywords
- Biped robot(2 족 보행 로봇); Sloping surface(경사면); Locomotion of all directions(전방향 보행); Trajectory generation method(궤적 생성 방법); LIPM(선형 역진자 모델)
- Citation
- 대한기계학회 2012년도 추계학술대회 논문집, pp.1179 - 1184
- Indexed
- OTHER
- Journal Title
- 대한기계학회 2012년도 추계학술대회 논문집
- Start Page
- 1179
- End Page
- 1184
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/164213
- Abstract
- In this paper, the trajectory generation method to make the biped robot walk in every direction on the sloping surface is proposed. In order to simplify the biped robot, the robot is assumed to be one particle, and reference coordinate is established to generate stable trajectory of biped robot on the sloping surface and towards direction of locomotion appropriately. The moment equation based on reference coordinate is set up and is used to generate trajectory of sagittal plane and lateral plane. Since this trajectory generation method considers direction of robot locomotion and angle of inclination, it makes the biped robot walk on the sloping surface stably. Biped robot can walk on the sloping surface by using proposed method without any control algorithm. The effectiveness of proposed method was proved by using computer simulation.
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