사각보행기의 고속 보행제어를 위한 동적 모델링 및 해석

A Dynamic Modeling and Analysis for High-speed Walking of a Quadrupedal Robot

  • 강성철 (한국과학기술연구원 기전연구부) ;
  • 유홍희 (한양대학교 기계설계학과) ;
  • 김문상 (한국과학기술연구원 기전연구부) ;
  • 이교일 (서울대학교 기계설계학과)
  • 발행 : 1997.01.01


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.