서지주요정보
보행로보트의 강인한 동적 걸음새의 설계에 관한 연구 = A study for the design of a robust dynamic gait of a walking robot
서명 / 저자 보행로보트의 강인한 동적 걸음새의 설계에 관한 연구 = A study for the design of a robust dynamic gait of a walking robot / 서영진.
발행사항 [대전 : 한국과학기술원, 1995].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8005898

소장위치/청구기호

학술문화관(문화관) 보존서고

DME 95021

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

리뷰정보

초록정보

The objective of this study is to develop a method of designing dynamic gainsof biped and quadruped walking robot. The current trend of the gait of a walking robot is dynamic one for fast walking speed. However, any systematic procedure of designing a dynamic gait is not developed yet. The main problem in designing a dynamic gait is the stability of the gait. A dynamic gait must be designed not to turn over during walking. So, it is very important to design a robust gait with respect to external disturbance. In this study, the design method of a robust dynamic gait of a biped robot and a quadruped walking robot is developed. A computational technique for designing a physically realizable robust gait for a planar biped robot is developed. Firstly, conditions for the continuous walking is derived. Secondly, a feasible set of gaits were constructed to satisfy the conditions by using an optimization technique. Then the concept of dynamic stability margin is introduced based on the robustness of a gait with respect to the external disturbances. Using that margin, we can assess the robustness of each dynamic gait in the feasible set. It is found that the parameter, called foot strike time margine, representing the readiness of the foot strike on the ground has a close positive correlation with the dynamic stability margin. We obtain a robust gait with respect to the external disturbance by maximizing the foot strike time margin. The robustness of the optimal gait is confirmed by the behavior of the gait after application of linear impulse as well as by the examination of the largest eigenvalue at the perturbed state. Similarly, the conditions for a continuous dynamic gait of a quadruped walking robot is proposed and a feasible set of dynamic gaits is designed using optimization technique. Simulation algorithm for the three dimensional four legged dynamic gait is derived considering impact, slip and stiction between foot and ground. The contact between foot and ground is modeled by uni-lateral spherical joint. It is found that the design of a dynamic gait by the optimization technique is systematic and efficient. The effects of some design factors to the robustness of the four legged dynamic gait is studied by the parametric study using Taguchi's orthogonal array and ANOVA (analysis of variance) method. It is found that the height of mass center of body and the width between right leg and left leg has a great influence on the robustness of the gait.

서지기타정보

서지기타정보
청구기호 {DME 95021
형태사항 xii, 171 p. : 삽도 ; 26 cm
언어 영어
일반주기 부록 수록
저자명의 한글표기 : Young-Jin Seo
지도교수의 한글표기 : 윤용산
지도교수의 영문표기 : Yong-San Yoon
학위논문 학위논문(박사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 149-154
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