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
- 2014.1
- 수록면
- 853 - 860 (8page)
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이 논문의 연구 히스토리 (3)
2014
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초록· 키워드
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This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.
목차
등록된 정보가 없습니다.
참고문헌 (7)
참고문헌 신청
Dietrich A. / 2012 / Reactive Whole-Body Control / IEEE. Robotics and Automation Magazine 19(2):20~33
Kim I. / 2013 / Inverse Kinematic Control of Humanoids Under Joint Constraints / INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 10(74):1~12
Sentis L. / 2006 / A Whole-Body Control Framework for Humanoids Operating in Human Environments / Proc. of IEEE Int. Conf. on Robotics and Automation :2641~2648
Siciliano B. / 2009 / Robotics: Modelling, Planning and Control / Springer
Siciliano B. / 1990 / A Closed-Loop Inverse Kinematic Scheme for On-Line Join-Based Robot Control / Robotica 8:231~243
Kim I. / 2013 / Inverse Kinematic Control of Humanoids Under Joint Constraints / INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 10(74):1~12
Sentis L. / 2006 / A Whole-Body Control Framework for Humanoids Operating in Human Environments / Proc. of IEEE Int. Conf. on Robotics and Automation :2641~2648
Siciliano B. / 2009 / Robotics: Modelling, Planning and Control / Springer
Siciliano B. / 1990 / A Closed-Loop Inverse Kinematic Scheme for On-Line Join-Based Robot Control / Robotica 8:231~243
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