한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권9호
  • /
  • Pages.133-144
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  • 2000
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

이족로봇의 동적 보행계획과 역동역학 해석

Dynamic Walking Planning and Inverse Dynamic Analysis of Biped Robot

  • 박인규 (인하대학교 대학원 자동화공학과) ;
  • 김진걸 (인하대학교 $기계\codt항공\codt자동공학부$)
  • 발행 : 2000.09.01
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초록

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

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참고문헌

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