한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제19권10호
  • /
  • Pages.139-146
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  • 2002
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  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

동작 획득 시스템의 개발

Development of Motion Capture System

  • 우정재 (한국해양대학교 기계공학과 대학원) ;
  • 최형식 (한국해양대학교 기계공학과) ;
  • 김영식 (한국해양대학교 기계공학과 대학원) ;
  • 전대원 (한국해양대학교 기계공학과 대학원)
  • U, Jeong-Jae (Dept. of Mechanical Engineering, Graduate School of Korea Maritime University) ;
  • Choe, Hyeong-Sik ( Dept. of Mechanical Engineering, Korea Maritime University) ;
  • Kim, Yeong-Sik (Dept. of Mechanical Engineering, Graduate School of Korea Maritime University) ;
  • Jeon, Dae-Won (Dept. of Mechanical Engineering, Graduate School of Korea Maritime University)
  • 발행 : 2002.10.01
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초록

We developed a motion capture system to utilize informations on the human walking motion. The system is composed of the mechanical and electronic devices to obtain the joint angle data and the software to analyze the obtained data and to transform the data into the input for a biped walking robot. The mechanical system is composed of a pair of links with 3 revolute joints, on which potentiometers are attached on joint axes to sense rotation angles. Analog signals from potentiometers are transformed into the digital data through the low pass filter and the A/D converter, and then which are stored at the computer. We analyzed the walking characteristics by applying FFT to the digital data, and then performed a 3-D computer simulation using the data. Finally, We apply the processed data to a biped walking robot.

키워드

참고문헌

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