# 이중 병렬형 다리 구조를 가진 2족보행로봇의 보행제어

• 윤정한 (한양대학교 기계공학부) ;
• 박종현 (한양대학교 기계공학부)
• Received : 2009.04.22
• Accepted : 2010.03.31
• Published : 2010.06.01
• 64 8

#### Abstract

In this paper, we propose a new parallel mechanism for the legs of biped robots and the control of the robot's locomotion. A leg consists of two 3-DOF parallel platforms linked serially: one is an orientation platform for a thigh and the other is the 3-DOF asymmetric parallel platform for the shank. The desired locomotion trajectory is generated on the basis of the Gravity-Compensated Inverted Pendulum Mode (GCIPM) in the sagittal direction and the Linear Inverted Pendulum Mode (LIPM) in the lateral direction, respectively. In order to simulate the ground reaction force, a 6-DOF elastic pad model is used underneath each of the soles. The performance and effectiveness of the proposed parallel mechanism and locomotion control are shown by the results of computer simulations of a 12-DOF parallel biped robot using $SimMechanics^{(R)}$.

#### Keywords

Asymmetric Platform;Biped Robot;Gravity-Compensated Inverted Pendulum Mode;Parallel Mechanism;Serial Mechanism

#### Acknowledgement

Supported by : 한국학술진흥재단

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