Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Work Consideration of Leg Joints of Bipedal Robots

이족 로봇 다리 관절의 일 특성 고찰

  • Kim, Byoung-Ho (Biomimetics & Intelligent Robotics Lab., Dept. of Mechatronics Eng., Kyungsung University)
  • 김병호 (경성대학교 메카트로닉스공학과 생체모방및지능로봇 연구실)
  • Received : 2013.03.31
  • Accepted : 2013.05.03
  • Published : 2013.06.25
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Abstract

This paper analyzes a virtual work of the knee and hip joints of bipedal walking robots. For the purpose, we consider a model of bipedal leg mechanism with a compliant foot and a typical walking pattern. We also check the torque characteristics at the joint space propagated from the space of the foot contacting a flat and stiff surface, and present the works accumulated at the joint space. As a result, it is shown that this analysis is useful for evaluating the fatigue of the leg mechanism by the physical walking contact between the foot and the surface, and it is applicable for improving the compliant characteristics at the foot space by employing a proper footgear.

본 논문에서는 이족 보행 로봇을 위한 무릎 및 힙 관절의 일 특성을 분석하고자 한다. 이를 위하여 컴플라이언스 특성의 발을 갖는 이족 로봇 다리 메커니즘을 대상으로 전형적인 보행 패턴을 고려한다. 또한 딱딱한 지면과 접촉하는 로봇 발 공간으로부터 다리 관절 공간으로 전파되는 토오크 특성을 확인하고, 보행에 따라 관절 공간에 누적되는 일 특성을 제시한다. 결과적으로, 이러한 분석이이족 로봇의 보행에서 발과 지면의 물리적인 접촉에 의한 다리 메커니즘의 피로 정도를 파악하는데 있어서 유용하고, 적절한 신발 착용 등에 의한 로봇 발 공간에서의 컴플라이언스특성 개선에 활용될 수 있음을 보인다.

Keywords

References

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