Proceedings of the Korean Society for Noise and Vibration Engineering Conference (한국소음진동공학회:학술대회논문집)

  • 2005.05a
  • /
  • Pages.559-562
  • /
  • 2005
  • /
  • 1598-2548(pISSN)
The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
권호 표지

A Study on Joint Compliance for a Biped Robot

이족 보행 로봇의 관절부위 유연특성 예측에 관한 연구

  • 이기주 (국민대학교 자동차공학전문대학원) ;
  • 임홍재 (국민대학교 자동차공학전문대학원) ;
  • 강윤석 (국민대학교 자동차공학전문대학원) ;
  • 박중경 (삼성전자(주) 메카트로닉스센터)
  • Published : 2005.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

When we analyze dynamics of a multi body system, a compliance of joints must be considered. If the virtual model for CAE(computer adied engineering) analysis is not considered compliance, the result of CAE analysis will be very different from the actual result. Especially in a biped walking robot, a compliance can be caused in joints of a walking robot, and the robot may lose walking stability. This paper proposes a compliance modeling method and the effectiveness of the compliance model is verified through experiments.

Keywords