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각운동량제어를 통한 이족보행로봇의 안정적인 뛰는 동작 생성Generating Stable Running Motion of Biped Robot by Control of Angular Momentum
- Other Titles
- Generating Stable Running Motion of Biped Robot by Control of Angular Momentum
- Issue Date
- Nov-2011
- Publisher
- 대학기계학회
- Keywords
- Biped Robot(이족보행로봇); Upper Body Motion(상체 동작); Stable Running Motion(안정적으로 뛰는 동작); Angular Momentum Control(각운동량제어기법); LIPM(역진자모델)
- Citation
- 대학기계학회 2011년도 추계학술대회 강연 및 논문 초록집, no. , pp.863 - 867
- Indexed
- OTHER
- Journal Title
- 대학기계학회 2011년도 추계학술대회 강연 및 논문 초록집
- Start Page
- 863
- End Page
- 867
- Abstract
- This paper proposes angular momentum control for stable running motion of a biped robot. When a biped robot runs, internal motion in support and flight phase of a biped robot generates the rate of angular momentum, which is able to cause instability. In this case, stability of a biped robot can be maintained by controlling angular momentum of whole robot body. LIPM(Linear Inverted Pendulum Mode) is used to generate trajectory of center of mass. The effectiveness and the performance of the proposed control algorithm are shown in computer simulations with a 28-degree-of-freedom(DOF).
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Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
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