서지주요정보
두 발 도립진자의 평형상태 판별 및 한발지지 자세 안정화에 관한 연구 = A study on the distinction of equilibrium state and stabilization of single supported posture for inverted pendulum consisting of 2 legs
서명 / 저자 두 발 도립진자의 평형상태 판별 및 한발지지 자세 안정화에 관한 연구 = A study on the distinction of equilibrium state and stabilization of single supported posture for inverted pendulum consisting of 2 legs / 조백규.
저자명 조백규 ; Cho, Baek-Kyu
발행사항 [대전 : 한국과학기술원, 2004].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8014966

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 04068

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초록정보

A human being balances himself with various parts of his body according to each given situation. A kind of balancing is using only one joint to keep balance. The study on posture stabilization of an inverted pendulum is fundamental to solve the problem of stabilizing a specific posture of the human being. In this study, an inverted pendulum consisting of 2 edges and 1 joint is stabilized on one edge, and a distinctive condition for stabilizing a posture on an edge is studied. Because a rategyro used in this study has a small measurement range, it is dominant for achieving stability. And, because an inverted pendulum is very unstable, it makes a big swing to stabilize itself, even though the difference between the state of system and the equilibrium state is small. Therefore, the system located at disequilibrium state is dependent of the influence of rategyro to stabilize a posture. It is stabilized by means of finding a distinctive condition which is combined by rategyro influence and initial condition for control. Suggestion for distinctive condition is proposed and experiments and simulation is performed.

서지기타정보

서지기타정보
청구기호 {MME 04068
형태사항 vii, 80 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Baek-Kyu Cho
지도교수의 한글표기 : 오준호
지도교수의 영문표기 : Jun-Ho Oh
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 78-80
주제 판별
도립진자
평형
distinction
inverted pendulum
stabilization
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