서지주요정보
4족 보행로봇의 원격조종을 위한 주기 걸음새 기반의 비주기적 걸음새 제어 = Aperiodic gait control based on periodic gait for teleoperation of a quadruped walking robot
서명 / 저자 4족 보행로봇의 원격조종을 위한 주기 걸음새 기반의 비주기적 걸음새 제어 = Aperiodic gait control based on periodic gait for teleoperation of a quadruped walking robot / 최명호.
저자명 최명호 ; Choi, Myung-Ho
발행사항 [대전 : 한국과학기술원, 2001].
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소장정보

등록번호

8011646

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 01001

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초록정보

This thesis presents a gait control scheme for teleoperation of a quadruped walking robot. In teleoperation of a walking robot, an operator gives a real-time generated velocity command to a walking robot instead of the preplanned moving trajectory. When the direction of the velocity command is changed, the periodic gait cannot be used because this requires an initial foot position. Therefore the aperiodic gait control scheme has been proposed that can converge to a periodic gait support pattern. For the purpose of that control scheme, we derived the condition of support pattern for the corresponding velocity command and the leg-lifting sequence of the periodic gait. That support pattern is called the proper support pattern that converges to the support pattern of a periodic gait. When the given support pattern satisfies the proper support pattern and the direction of the velocity command is constant, the support pattern converges to a support pattern of the periodic gait by the proposed control scheme. When the given support pattern does not satisfy the proper support pattern, we can predict the pre_deadlock and solve it and change the support pattern into the proper support pattern. The proposed gait control scheme is applied to Centaur which is a quadruped walking robot developed by KIST. The proposed control scheme has been evaluated with the simulator that has quasi-dynamic characteristics of Centaur. Simulation results are given to demonstrate the efficiency of the proposed control scheme.

서지기타정보

서지기타정보
청구기호 {MME 01001
형태사항 vi, 80 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Myung-Ho Choi
지도교수의 한글표기 : 권동수
지도교수의 영문표기 : Dong-Soo Kwon
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 77-80
주제 걸음새
보행로봇
원격조종
그래픽 시뮬레이터
4족보행로봇
gait
walking robot
teleoperation
graphic simulator
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