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
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 1,163 - 1,168 (6page)
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초록· 키워드
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This paper introduces omni-directional walking control of a six-legged robot (6LR). The 6LR consists of its body, six legs with four links and four rotational joints. The followings are done for this task. First, the walking gait of the 6LR is chosen. Second, modeling for one leg with four links and four rotational joints of the 6LR is proposed. It is difficult and complex to get the angles of four rotational joints in the case of using inverse kinematics. To solve this problem, differential kinematics algorithm is used to generate omni-directional walking trajectory of a leg based on back-stepping control using Lyapunov stability. Finally, simulation results for walking motion of one leg of the 6LR are shown to prove the effectiveness and applicability of the proposed controller.
목차
Abstract
1. INTRODUCTION
2. SYSTEM CONFIGURATION AND WALKING GAIT
3. KINEMATICS MODELLING OF ONE LEG OF THE SIX-LEGGED ROBOT
4. CONTROLLER DESIGN FOR OMNIDIRECTION GAIT
5. SIMULATION RESULTS
6. CONCLUSIONS
REFERENCES
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