• Title, Summary, Keyword: 트롯걸음새

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The Energy Efficiency of Walking Method for Quadruped Walking Robot (4 족 보행로봇의 보행방법에 대한 에너지효율)

  • Shin, Chang-Rok;Kim, Jang-Seob;Park, Jong-Hyeon;Yoo, Hong-Hee
    • Proceedings of the KSME Conference
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    • pp.882-887
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    • 2008
  • In this paper, the dependency of energy efficiency on the walking/running pattern and the walking/running period is analyzed though simulations of walk, trot and gallop. A quadruped animal has its own original features in the walking pattern and the walking period for adaptation to the environment. The robot model used in the simulations has three active joints and one passive spring-loaded joint at each leg, which is based on the actual quadruped robot, HUNTER (Hanyang UNiversity TEtrapod Robot), developed in the lab. Also included is the dependency of energy efficiency on the walking period in trot.

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A Dynamic Modeling and Analysis for High-speed Walking of a Quadrupedal Robot (사각보행기의 고속 보행제어를 위한 동적 모델링 및 해석)

  • Kang, Sung-Chul;Yoo, Hong-Hee;Kim, Mun-Sang;Lee, Kyo-Il
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.21 no.5
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    • pp.756-768
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    • 1997
  • 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.