서지주요정보
4관절 3링크 2족 로봇과 걸음새에 관한 연구 = A study on 4 joints 3 links biped robot and its gaits
서명 / 저자 4관절 3링크 2족 로봇과 걸음새에 관한 연구 = A study on 4 joints 3 links biped robot and its gaits / 김성훈.
저자명 김성훈 ; Kim, Sung-Hoon
발행사항 [대전 : 한국과학기술원, 2000].
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소장정보

등록번호

8010838

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 00013

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초록정보

Biped robots have good mobility and can move in various environments such as rough terrain, up and down slopes, or regions containing obstacles. But since almost of them are high order nonlinear dynamic system, their walking pattern, stability and control method, etc are important problems. In this paper, the new type biped walking robot which is composed of the minimum number of links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four - crossing, crawling, standing and turning gait. In designing the biped robot, we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by 3rd order spline interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP (zero moment point), which is related to maintaining the ZMP within the stable region of the supporting foot during the single leg support phase. We determine the region of mass center from the stability condition of ZMP and plan joints' trajectories which track the mass center moving with constant velocity or being stationary in the center of supporting foot where the stability margin is largest. We find out that ZMP trajectories of the obtained joints' ones also satisfy their stability condition. Finally we implement the gaits statically tracking the original planned trajectories and the backlash-compensated trajectories using PD control method. And experimental walking test results are described.

서지기타정보

서지기타정보
청구기호 {MME 00013
형태사항 iv, 67 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Sung-Hoon Kim
지도교수의 한글표기 : 오준호
지도교수의 영문표기 : Jun-Ho Oh
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 34-35
주제 2족 로봇
걸음새
최적화
3차 스플라인
ZMP
Biped
Gait
Optimization
Cubic spline
ZMP
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