Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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The Compliance Control for Walking Stabilization of a Jointed-Leg Quadrupedal Robot

관절 구동형 4족보행 로봇의 보행 안정화를 위한 컴플라이언스 제어

  • Published : 2000.05.01
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Abstract

Due to the irregularity of walking ground and the inaccuracy in trajectory control of a leg, the mechanical shock and slip on the ground can be caused in the landing and supporting legs of a walkin g robot, and the robot may lose walking stability. Especially in a jointed-leg type walking robot, those problems are much more severe than in the pantograph type since the leg-weight of the jointed-leg type walking robot is relatively heavier than that of the pantograph type in general. In order to secure the walking stability for the jointed-leg type quadrupedal robot under development in KIST(Korea Institute of Science and Technology), a balancing algorithm consisting of the leg compliance control and the body posture control is implemented in this paper, and the effectiveness of the algorithm is verified through experiments.

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References

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