Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)
- Volume 21 Issue 5
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- Pages.756-768
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- 1997
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- 1226-4873(pISSN)
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- 2288-5226(eISSN)
DOI QR Code
A Dynamic Modeling and Analysis for High-speed Walking of a Quadrupedal Robot
사각보행기의 고속 보행제어를 위한 동적 모델링 및 해석
-
Kang, Sung-Chul
(Korea Institute of Science and Technology)
;
- Yoo, Hong-Hee (Dept. of Mechanical Design, Hanyang University) ;
-
Kim, Mun-Sang
(Korea Institute of Science and Technology)
;
- Lee, Kyo-Il (Dept.of Mechanical Engineering, Seoul National University)
- Published : 1997.01.01
Abstract
In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.
Keywords