서지주요정보
4족 보행로봇의 원격조종을 위한 걸음새 제어 = Gait control for teleoperation of a quadruped walking robot
서명 / 저자 4족 보행로봇의 원격조종을 위한 걸음새 제어 = Gait control for teleoperation of a quadruped walking robot / 이덕영.
저자명 이덕영 ; Lee, Duck-Young
발행사항 [대전 : 한국과학기술원, 1999].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8009532

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 99049

휴대폰 전송

도서상태

이용가능

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반납예정일

초록정보

This paper presents a novel gait control scheme for teleoperation of a quadruped walking robot. In many conventional gait control schemes, the leg motion of a walking robot has been generated from a planned moving trajectory of the robot. However, as an operator is to give a velocity command to a walking robot in real-time without a planned moving trajectory, its leg trajectory should be generated in real-time corresponding to the velocity command of the operator. The periodic gait is well known to be the optimal one but this requires an initial foot position which is different relative to a moving direction. The purpose of this paper is to propose the gait algorithm that can not only converge to a wave-crab gait or wave-spinning gait but also avoid deadlocks after the directional change by velocity command. The proposed gait algorithm is applied to Centaur which is a quadruped walking robot invented by KIST. Because Centaur has heavy legs and very large moving region of gravity center, sway motion scheme is incorporated in the algorithm. For evaluating of the proposed algorithm, the simulations and experiments are carried out successfully.

서지기타정보

서지기타정보
청구기호 {MME 99049
형태사항 vi, 75 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : Kinematics
저자명의 영문표기 : Duck-Young Lee
지도교수의 한글표기 : 권동수
지도교수의 영문표기 : Dong-Soo Kwon
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 73-75
주제 보행로봇
걸음새
실시간
원격조종
수렴
Walking robot
Gait
Real-time
Teleoperation
Converge
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