서지주요정보
힘 감지 저항을 이용한 이족 보행 로봇의 ZMP 보상법 = ZMP compensation method for biped robot with FSR(force sensing resistor)
서명 / 저자 힘 감지 저항을 이용한 이족 보행 로봇의 ZMP 보상법 = ZMP compensation method for biped robot with FSR(force sensing resistor) / 문춘경.
저자명 문춘경 ; Moon, Choon-Kyoung
발행사항 [대전 : 한국과학기술원, 2003].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8014120

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 03035

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

초록정보

In this paper, we design and implement a biped robot to immitate human walking pattern. The robot is vertical symmetric in shape and balanced in weight. 12 RC servo motors are used to operate the joints. And the joints have enough moving ranges suitable in any walking pattern. Although biped robots have better mobility than conventional wheeled robots, it is hard for the biped robots to keep balance during walking. Therefore, stable walking is the key point for the biped robots at present. Here, each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using ZMP from the robot modeling. Nevertheless, we can not assure the stability of the real robot because of uncertainty of modeling, uneven terrain, error of zero point adjustment and etc. To solve the above problem, a simple and effective sole structure to measure the ZMP of the biped robot and to improve the stability of the biped robot by immediating ZMP compensation methods in emergence situation is suggested. Finally, a communication architecture for PC and robot communication is designed. This architecture uses dual micro-controllers to get joint trajectory in each sampling time, controls 12 RC servo motors and compensates the ZMP concurrently in a slow speed communication line.

서지기타정보

서지기타정보
청구기호 {MEE 03035
형태사항 viii, 74 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Choon-Kyoung Moon
지도교수의 한글표기 : 김종환
지도교수의 영문표기 : Jong-Hwan Kim
학위논문 학위논문(석사) - 한국과학기술원 : 전기및전자공학전공,
서지주기 참고문헌 : p. 71-74
주제 이족 보행 로봇
힘 감지 저항
ZMP
Biped Robot
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