로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제14권4호
  • /
  • Pages.264-269
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  • 2019
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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고속 족형 운동을 위한 생체모사 로봇의 다리 메커니즘 설계 및 제어

Leg Mechanism Design and Control of Bio-inspired Robot for High Speed Legged Locomotion

  • 투고 : 2019.09.09
  • 심사 : 2019.10.13
  • 발행 : 2019.11.30
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초록

This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.

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참고문헌

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