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소형 휴머노이드 로봇의 그네 운동Swing Motion of Miniaturized Humanoid Robot
- Other Titles
- Swing Motion of Miniaturized Humanoid Robot
- Issue Date
- 2004
- Publisher
- 제어·로봇·시스템학회
- Keywords
- swing motion; Lagrangian analysis; ADXL acceleration/inclination sensor; miniaturized humanoid; swing motion; Lagrangian analysis; ADXL acceleration/inclination sensor; miniaturized humanoid
- Citation
- 제어.로봇.시스템학회 논문지, v.10, no.3, pp.267 - 272
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 10
- Number
- 3
- Start Page
- 267
- End Page
- 272
- ISSN
- 1976-5622
- Abstract
- In this paper, we present analysis on the dynamics of human swing and its realization by a miniaturized humanoid robot. Since the motion of legs is the most important in the swing, the swing system can be approximated as a double pendulum. Based on Lagrangian analysis, the leg motion is designed to make the swing motion as sustained oscillation. In order to detect the peak instant of the swing and to synchronize the leg motion with the swing, we use ADXL acceleration/inclination sensor. The miniaturized humanoid in this paper has total 20 DOFs including 6 DOFs in each leg, 34cm in height, and 2kg in weight. As a result of realization of the swing by the humanoid, the sustained oscillation is verified through experiments.
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Related Researcher
- SUNG, YOUNG WHEE
- College of Engineering (School of Electronic Engineering)