대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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Gait Implementation using a Kick Action for IWR-III Biped Walking Robot

  • 진광호 (인하대학교 자동화공학과) ;
  • 박천욱 (인하대학교 자동화공학과) ;
  • 최상호 (인하대학교 자동화공학과) ;
  • 김진걸 (인하대학교 자동화공학과)
  • 발행 : 1998.11.28
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초록

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.

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