대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

이족보행로봇(IWR-III)의 지속적인 몸체 추진을 위한 걸음새 구현

Gait Implementation of Biped Walking Robot(IWR-III) for continuous trunk motion

  • 장충렬 (인하대학교 자동화공학과) ;
  • 최영하 (인하대학교 자동화공학과) ;
  • 최상호 (인하대학교 자동화공학과) ;
  • 김진걸 (인하대학교 자동화공학과)
  • 발행 : 1998.11.28
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초록

This paper deals with the new gait implementation of biped walking robot(IWR-III). In the case of using old gait. The trunk should be stopped during the phase changing time. But using new gait, the trunk moves continuously for all walking time. As a result, IWR-III has a walking gait similar to human being, and the motion of balancing joints can be reduced by the trunk ahead effect in the double support phase, moreover, ZMP tracking is improved, therefore the stability of IWR-III is improved. The trajectory is planned with a 5th order spline interpolation and stability of IWR-III is certified with a biped simulator.

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