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
- 학위논문
- 저자정보
- 지도교수
- 김용태
- 발행연도
- 2013
- 저작권
- 한경대학교 논문은 저작권에 의해 보호받습니다.
이용수1
이 논문의 연구 히스토리 (4)
2013
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
- 이 논문의 연구 히스토리 확인하기
초록· 키워드
오류제보하기
Biped robot has high degrees of freedom and has walking
instability. For this reason, biped robot has to obtain the
informations of both outside and inner environment for walking
in the various terrain. To solve this problem, FSR sensors,
gyro sensor and accelerometer were used. Biped robot can
calculate ZMP value using FSR sensors and estimate angle of
robot using gyro sensor and accelerometer. ZMP and angle of
robot can be adapted for stabilization of walking on flat and
uneven terrain.
In this thesis I propose walking stabilization algorithm using
FSR sensors, gyro sensor and accelerometer. First suggestion
is walking stabilization algorithm only using FSR sensors. Biped
robot can be stabilized through modification of the ankle motor
based on ZMP value. Secondly, I suggest walking stabilization
algorithm using gyro sensor and accelerometer. Biped robot can
obtain angle using gyro sensor and accelerometer through
extended kalman filter. Pelvis motor of the biped robot is
modified depends on value that be calculated angle. After that,
I experiment each algorithm using biped robot on flat terrain.
Also, experiment was progressed on uneven terrain and slope
terrain using walking stabilization algorithm.
Additionally, it is important to path tracking for biped robot.
Because, study about autonomous walking is increase. In this
thesis I propose a path tracking method using RFID sensor.
The proposed algorithms are verified through experiments
using a developed biped robot. The experimental results
demonstrate that the biped robot is able to walk stably on
uneven and slope terrain.
instability. For this reason, biped robot has to obtain the
informations of both outside and inner environment for walking
in the various terrain. To solve this problem, FSR sensors,
gyro sensor and accelerometer were used. Biped robot can
calculate ZMP value using FSR sensors and estimate angle of
robot using gyro sensor and accelerometer. ZMP and angle of
robot can be adapted for stabilization of walking on flat and
uneven terrain.
In this thesis I propose walking stabilization algorithm using
FSR sensors, gyro sensor and accelerometer. First suggestion
is walking stabilization algorithm only using FSR sensors. Biped
robot can be stabilized through modification of the ankle motor
based on ZMP value. Secondly, I suggest walking stabilization
algorithm using gyro sensor and accelerometer. Biped robot can
obtain angle using gyro sensor and accelerometer through
extended kalman filter. Pelvis motor of the biped robot is
modified depends on value that be calculated angle. After that,
I experiment each algorithm using biped robot on flat terrain.
Also, experiment was progressed on uneven terrain and slope
terrain using walking stabilization algorithm.
Additionally, it is important to path tracking for biped robot.
Because, study about autonomous walking is increase. In this
thesis I propose a path tracking method using RFID sensor.
The proposed algorithms are verified through experiments
using a developed biped robot. The experimental results
demonstrate that the biped robot is able to walk stably on
uneven and slope terrain.
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