사각보행기의 고속 보행제어를 위한 동적 모델링 및 해석

DOI QR코드

DOI QR Code

강성철;유홍희;김문상;이교일
Kang, Sung-Chul;Yoo, Hong-Hee;Kim, Mun-Sang;Lee, Kyo-Il

  • 발행 : 1997.01.01

초록

In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.

키워드

보행로봇;동역학;트롯걸음새;운동방정식;토크 리던던시;동역학 시뮬레이션