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
- 2011.9
- 수록면
- 284 - 291 (8page)
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초록· 키워드
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This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.
목차
Abstract
1. 서론
2. 바퀴-다리형 로봇의 슬립 발생 조건
3. 바퀴-다리형 로봇의 마찰계수 추정
4. 결론
참고문헌
참고문헌 (14)
참고문헌 신청
2. [학술지(정기간행물)] - 김윤구 / 2011 / 휠-트랙 하이브리드 모바일 로봇 플랫폼의 지형 적응성 및 사용자 친화성 향상을 위한 원격 조종기 설계와 개발 / 제어.로봇.시스템학회 논문지 17 (6) : 558 ~ 565
5. [학술대회논문] - D.-H. Shin / 2010 / Effects of torsional stiffness, knee angle, and link ratio on the design of a biologically inspired mobile robot with two-segment legs / Proc. of International Conference on Control : 1835 ~ 1838
6. [학술대회논문] - D.-H. Shin / 2010 / Design of a biologically inspired robot using CAD/CAE/RP / Proc. of International Conference on Computer-Aided Manufacturing and Design : 467 ~ 470
7. [학술대회논문] - Y. Kim / 2011 / Running model for a compliant wheel-Leg hybrid mobile robot by using a mass-spring model / Proc. of International Conference on Mechanical, Industrial, and Manufacturing Technologies : 289 ~ 292
8. [학술대회논문] - D.-H. Shin / 2011 / The mechanical analysis of a legged field robot for the reduction of longitudinal mass-drift amounts / Proc. of International Symposium on Automation and Robotics in Construction : 1417 ~ 1418
5. [학술대회논문] - D.-H. Shin / 2010 / Effects of torsional stiffness, knee angle, and link ratio on the design of a biologically inspired mobile robot with two-segment legs / Proc. of International Conference on Control : 1835 ~ 1838
6. [학술대회논문] - D.-H. Shin / 2010 / Design of a biologically inspired robot using CAD/CAE/RP / Proc. of International Conference on Computer-Aided Manufacturing and Design : 467 ~ 470
7. [학술대회논문] - Y. Kim / 2011 / Running model for a compliant wheel-Leg hybrid mobile robot by using a mass-spring model / Proc. of International Conference on Mechanical, Industrial, and Manufacturing Technologies : 289 ~ 292
8. [학술대회논문] - D.-H. Shin / 2011 / The mechanical analysis of a legged field robot for the reduction of longitudinal mass-drift amounts / Proc. of International Symposium on Automation and Robotics in Construction : 1417 ~ 1418
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UCI(KEPA) : I410-ECN-0101-2020-559-001259276