한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권3호
  • /
  • Pages.83-91
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  • 2000
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

정적 보행모델에 기반을 둔 4족 보행로봇의 온라인 틸팅 제어알고리즘

  • 이순걸 (경희대학교 기계공학과) ;
  • 조창현 (경희대학교 기계공학) ;
  • 홍예선 (한국과학기술연구원 휴먼로봇 센터)
  • 발행 : 2000.03.01
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초록

During static walking of a quadruped walking robot, stability of the robot depends on whether the projection of the mass center is located within the supporting area that is varying with leg motion and formed by standing legs. In this paper, force margin instead of the mass center was used to determine stability and body-tilting method was used to enhance it. On-line control of body tilting was realized with simple reaction feedback based on force margin of the static walking model of the robot instead of complicated calculation. Model reference on-line control where the model searches stable pose for predefined force margin also gave good walking performance.

키워드

참고문헌

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