Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Landing Performance of a Quadruped Robot Foot Having Parallel Linked Toes on Uneven Surface

평행링크형 발가락을 갖는 4족 보행로봇 발의 비평탄 지면 착지 성능

  • Hong, Yeh-Sun (Department of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Yoon, Seung-Hyeon (Department of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Kim, Min-Gyu (KAU Robot Research Center, Korea Aerospace Univ.)
  • 홍예선 (한국항공대학교 대학원 항공우주 및 기계공학과) ;
  • 윤승현 (한국항공대학교 대학원 항공우주 및 기계공학과) ;
  • 김민규 (한국항공대학교 KAU 로봇연구센터)
  • Published : 2009.10.01
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Abstract

In this study, a robot foot having toes for firm stepping on uneven surface is proposed. The toes are connected to the lower leg by parallel links so that the lower leg can rotate in the rolling and pitching directions during stance phase without ankle joint. The landing performance of the foot on uneven surface was evaluated by relative comparison with that of the most common foot making point contact with the walking surface, since the test conditions considering real uneven surface could be hardly defined for its objective evaluation. Anti-slip margin(ASM) was defined in this study to express the slip resistance of a robot foot when it lands on a projection with half circular-, triangular- or rectangular cross section, assuming that uneven surface consists of projections having these kind of cross sections in different sizes. Based on the ASM analysis, the slip conditions for the two feet were experimentally confirmed. The results showed that the slip resistance of the new foot is not only higher than that of the conventional point contact type foot but also less sensitive to the surface friction coefficient.

Keywords

References

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