지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.4
- 수록면
- 299 - 309 (11page)
이용수
초록· 키워드
오류제보하기
When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS® along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.
목차
ABSTRACT
1. 서론
2. 샘플 로봇과 역기구학
3. ZMP 방정식과 보행 패턴
4. 균형 제어
5. 동역학 시뮬레이션
6. 결론
References
참고문헌 (11)
참고문헌 신청
1. [학술지(정기간행물)] - Kajita, S. / 2003 / Biped Walking Pattern Generation by a Simple Three-dimensional Inverted Pendulum Model / Advanced Robotics 17 (2) : 131 ~ 147
2. [학술대회논문] - Kobayashi, H. / 2009 / Self-consistent Automatic Navigation of COM and Feet for Realtime Humanoid Robot Steering / IEEE/RSJ Int. Conference on Intelligent Robots and Systems : 3525 ~ 3530
3. [학술대회논문] - Muecke, K. J. / 2008 / Precision Circular Walking of Biped Robots / ASME IDETC/CIE Conference
4. [학술지(정기간행물)] - 임승철 / 2006 / 이족 로봇의 위치 이동: 정보행 대 동보행 / 대한기계학회논문집 A 30 (6) : 643 ~ 652
5. [단행본] - Vukobratovic, M. / 1990 / Scientific Fundamentals of Robotics 7 : Biped Locomotion / Springer-Verlag
2. [학술대회논문] - Kobayashi, H. / 2009 / Self-consistent Automatic Navigation of COM and Feet for Realtime Humanoid Robot Steering / IEEE/RSJ Int. Conference on Intelligent Robots and Systems : 3525 ~ 3530
3. [학술대회논문] - Muecke, K. J. / 2008 / Precision Circular Walking of Biped Robots / ASME IDETC/CIE Conference
4. [학술지(정기간행물)] - 임승철 / 2006 / 이족 로봇의 위치 이동: 정보행 대 동보행 / 대한기계학회논문집 A 30 (6) : 643 ~ 652
5. [단행본] - Vukobratovic, M. / 1990 / Scientific Fundamentals of Robotics 7 : Biped Locomotion / Springer-Verlag
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UCI(KEPA) : I410-ECN-0101-2015-530-001711000