Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Gaits Control for Skating Motion with Nonholonomic Constraint

논홀로노믹 구속을 고려한 스케이트 운동의 연속적인 생성방법

  • 황창순 (경북대학교 기계공학부)
  • Published : 2009.06.01
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Abstract

This paper addresses the control method for skating motion with a nonholonomic constraint. In order to generate a human-like skating motion, the behaviors of motion are distinctively analyzed into transient state and steady state. A close investigation of the behaviors evolved the characteristic of successive motions with transient state and steady state. Simulation results were intuitively comprehensible, and the effectiveness of control method was demonstrated for skating motion.

Keywords

References

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