한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제19권7호
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  • Pages.43-50
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  • 2002
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

유연한 보행 형태를 갖는 이족보행로봇의 걸음새 구현

Gait Implementation of a Biped Robot with Smooth Walking Pattern

  • 발행 : 2002.07.01
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초록

This paper presents the new gait implementation of a biped robot with smooth walking using 3-dimensional continuous trunk motion and kick action of ankle joints. Trajectory generation ova trunk is performed not on a unit gait but on a whole walking interval. In applying kick action such as heel-touch or toe-off, varying coordinate system was employed for the simplification of the kinematic analysis. Desired ZMP (zero moment point) is also changed to implement the efficient kick action. As a result, balancing motion of the proposed gait was much more decreased than that of conventional one. Moreover, robot\\`s walking behavior is very smooth, natural and similar to the pace of a human. The walking experiment system is composed of eight AC servo motors and a DSP controller. The walking simulation and the experimental results are shown using the proposed new walking algorithm.

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참고문헌

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