서지주요정보
4각 보행로보트의 제작 및 균형추를 이용한 안정성 향상에 관한 연구 = A development of 4-legged walking machine and the enhancement of static stability margin using balancing weight
서명 / 저자 4각 보행로보트의 제작 및 균형추를 이용한 안정성 향상에 관한 연구 = A development of 4-legged walking machine and the enhancement of static stability margin using balancing weight / 강신천.
저자명 강신천 ; Kang, Sin-Cheon
발행사항 [대전 : 한국과학기술원, 1991].
Online Access 제한공개(로그인 후 원문보기 가능)원문

소장정보

등록번호

8001999

소장위치/청구기호

학술문화관(문화관) 보존서고

MPE 9103

휴대폰 전송

도서상태

이용가능

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초록정보

As the application of robotic systems expand its scope, more research efforts are given in providing mobility to the robotic systems so that they can travel across various paths including those with formidable obstacles such as stairways or rough terrains. Legged locomotion is mainly concerned because the walking motion, like that of animal behavior, has many advantages over wheel type or track type locomotion especially in rough terrain. Walking robots, in general, having a discrete number of legs, have inherently low static stability. Static stability can be increased to a certain degree, by improving walking method, but it has many limitations such as reduced travel speed. A very promising possibility lies in the use of balancing weight, nevertheless its actual implementation is very rare. In this study, a 4-legged walking machine is developed and the static stability margin is increased with the balancing weight. In the future, this robot will be used to make an experiment on the walking is rough terrain.

서지기타정보

서지기타정보
청구기호 {MPE 9103
형태사항 [ii], 57 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 수록
저자명의 영문표기 : Sin-Cheon Kang
지도교수의 한글표기 : 오준호
지도교수의 영문표기 : Jun-Ho Oh
학위논문 학위논문(석사) - 한국과학기술원 : 생산공학과,
서지주기 참고문헌 : p. 22-23
주제 Walking.
Balance weights (Machinery)
Robots --Motion.
Stability.
이동 로봇. --과학기술용어시소러스
보행 기관. --과학기술용어시소러스
균형. --과학기술용어시소러스
동적 안정성. --과학기술용어시소러스
Mobile robots.
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