대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1990년도 하계학술대회 논문집
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- Pages.467-470
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- 1990
힘 센서를 이용한 4각 보행로보트의 비평탄로 보행에 관한 연구
Force Sensor Based Locomotion of a Quadruped Walking Vehicle over Uneven Terrain
- Lee, Seung-Ha (KAIST) ;
- Bien, Zeung-Nam (KAIST) ;
- Suh, Il-Hong (Han Yang Univ.) ;
- Lee, Ji-Hong (KAIST)
- 발행 : 1990.07.05
초록
This thesis presents a simple heuristic algorithm which can be applied. to a quadruped wafting vehicle for increasing the terrain adaptability. The proposed method controls a leg length which is in tranfer phase to maintain initial orientation of the robot body by using FSR type force sensors attached to foot-tips. Also, some basic experiments using the vehicle are performed to demonstrate the effectiveness of the algorithm.
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