한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1996년도 추계학술대회 논문집
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- Pages.815-819
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- 1996
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- 2005-8446(pISSN)
전방향 특성을 갖는 사족보행 로봇에 관한 연구
Study on a Quadruped Walking Robot with Omni-directional Characteristics
- Kim, Hee-Guk (Korea University) ;
- Lee, Jun-Yong (Graduate School, Korea Univ.) ;
- Song, Nak-Yoon (Graduate School, Kwangwoon Univ.) ;
- Cho, Hwang (Kwangwoon Univ.)
- 발행 : 1996.11.01
초록
In this work, regular rotational gaits of the quadruped crawling robot required to change its moving direction without affecting be its orientation and its static stability margin are studied. The regular rotational gaits provide the quadruped crawling robot with omnidirectional characteristics. However, the ideal foothold region for each of legs of the quadruped crawling robot is assumed for simplicity. Nonetheless, it is expected that the results of this paper will provide the insight for both design of legs of the crawling robot with omnidirectional characteristics as well as its operation of the crawling robot system with specified stability margin.
키워드