이족 보행 로봇의 관절부위 유연특성 예측에 관한 연구

A Study on Joint Compliance for a Biped Robot

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.