Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
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A Study on Computer Simulation of Joint Compliance for a Biped Robot

이족 보행 로봇의 관절부위 유연특성 시뮬레이션에 관한 연구

  • 이기주 (국민대학교 기계자동차공학부) ;
  • 박중경 (삼성전자(주) 메카트로닉스센터) ;
  • 임시형 (국민대학교 기계자동차공학부) ;
  • 임홍재 (국민대학교 기계자동차공학부)
  • Published : 2007.10.20
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Abstract

Compliance of joints must be considered when we analyze dynamics of a multi-body system. If the virtual model for CAE(computer aided engineering) analysis does not consider compliance, the result of CAE analysis can be very different from the actual experimental result. Especially in a biped walking robot, the robot may lose walking stability due to the compliance in joints of a walking robot. This paper proposed a method applying a compliance of joints in the biped walking robot to a virtual model. Also, through the 3-D displacement measurement using a laser tracker, it was demonstrated that the virtual model considering the joint compliance could effectively simulate the nonlinear motion of the real model.

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References

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