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
- 263 - 273 (11page)
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초록· 키워드
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This paper analyzes the motion of a horseback riding robot which has two actuators and three joints. It is impossible to control the saddle to get to any position and orientation using the two motors because the robot has less degrees of freedom than the number of joints. Therefore it is required to know the possible location and orientation along with the velocity characteristics of each pose prior to motion planning. For this purpose, this paper analyzes the characteristics of the robot motion. The authors derive the forward and inverse kinematics of the robot motion and developed the trajectory editor for motion planning. Also, Jacobian of the robot is analyzed. It reveals that one of the actuator has little influence to the speed of the saddle motion while the other affects the speed of the saddle motion dominantly. The approach of the paper can be applied for the analysis of characteristics of a robot which has less number of actuators than that of joints.
목차
Abstract
1. 서론
2. 말 동작의 분석
3. 로봇의 구조 및 기구학
4. 로봇모션 생성기
5. 실험 및 고찰
6. 결론
참고문헌
참고문헌 (7)
참고문헌 신청
1. [학술지(정기간행물)] - Z Sheng / 1997 / Postural stability of a human riding a unicycle and its emulation by a robot / IEEE Transactions on Robotics and Automation 13 (5) : 709 ~ 720
2. [학술지(정기간행물)] - AOKI TAKAAKI / 2002 / Horse Riding System Using Virtual Reality / Japanese Journal of Rehabilitation Medicine 39 (12) : 817 ~ 820
3. [학술대회논문] - Y. Shinomiya / 1997 / Horseback riding therapy simulator with VR technology / Proceedings of the ACM symposium on Virtual reality software and technology : 9 ~ 14
4. [학위논문] - 김세훈 / 2002 / 운동감을 고려한 가상현실 시스템 설계 및 구현 / 석사 / 한국과학기술원
5. [학술지(정기간행물)] - CHEN G-L / 2003 / Control of Horseback Riding Robot with Biofeedback / Faji Shisutemu Shinpojiumu Koen Ronbunshu 19 : 293 ~ 294
2. [학술지(정기간행물)] - AOKI TAKAAKI / 2002 / Horse Riding System Using Virtual Reality / Japanese Journal of Rehabilitation Medicine 39 (12) : 817 ~ 820
3. [학술대회논문] - Y. Shinomiya / 1997 / Horseback riding therapy simulator with VR technology / Proceedings of the ACM symposium on Virtual reality software and technology : 9 ~ 14
4. [학위논문] - 김세훈 / 2002 / 운동감을 고려한 가상현실 시스템 설계 및 구현 / 석사 / 한국과학기술원
5. [학술지(정기간행물)] - CHEN G-L / 2003 / Control of Horseback Riding Robot with Biofeedback / Faji Shisutemu Shinpojiumu Koen Ronbunshu 19 : 293 ~ 294
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UCI(KEPA) : I410-ECN-0101-2020-559-001259236