Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Contact Repulsion of Robotic Foot and Its Influence on Knee and Hip Joints

로봇 발의 접촉 반발력이 무릎 및 힙 관절에 미치는 영향

  • Kim, Byoung-Ho (Biomimetics & Intelligent Robotics Lab., Dept. of Mechatronics Eng., Kyungsung University)
  • 김병호 (경성대학교 메카트로닉스공학과 생체모방및지능로봇 연구실)
  • Received : 2012.11.23
  • Accepted : 2013.01.03
  • Published : 2013.02.25
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Abstract

This paper presents a model of bipedal leg mechanism with a compliant foot, and the contact repulsion of the foot for a typical walking pattern and its influence on the knee and hip joints of the leg will be analyzed. This analysis is useful for us to figure out the physical impact of the foot when a walking robot takes a step. Also it can be applied to determine the joint specification of the leg mechanism. As a result, it is shown that the compliance characteristics of a robotic foot can contribute to alleviate the joint torques of the leg affected by the contact repulsion of the foot.

본 논문에서는 컴플라이언스 특성의 발을 갖는 이족 로봇의 다리 메커니즘을 제시한 후, 이족 로봇을 위한 전형적인 보행 패턴에서 발의 접촉 반발력과 이것이 무릎과 힙 관절에 미치는 영향을 고찰하고자 한다. 이러한 분석은 보행 로봇이 걸음 동작을 수행할때, 발의 물리적인 접촉력의 영향을 파악하는데 있어서 유용하고, 다리 메커니즘의 관절 사양을 결정하는데 활용될 수 있다. 결과적으로, 로봇 발 메커니즘의 컴플라이언스 특성이 발의 접촉 반발력에 의해 영향을 받는 보행 다리 관절의토오크 특성을 완화시키는데 기여할 수 있음을 보인다.

Keywords

References

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Cited by

  1. Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots vol.10, pp.9, 2013, https://doi.org/10.5772/56926
  2. Work Consideration of Leg Joints of Bipedal Robots vol.23, pp.3, 2013, https://doi.org/10.5391/JKIIS.2013.23.3.238