한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1997년도 춘계학술대회 논문집
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- Pages.78-81
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- 1997
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- 2005-8446(pISSN)
사각 보행 로봇의 동적 걸음새에 관한 연구
A study on Dynamic Gait Quadruped Walking Robot
초록
In this study, we prepose the dynamic gait in consideration of emerge efficiency. The proposed dynamic gait is applied to the quadruped walking robot and experiments are performed for real robot. We proposed the dynamic gait is diagonal gait which is modified the trot gait in consideration of energy efficiency. The proposed gait is composed of two steps. In one step, the robot walks in the trot gait. In the other step, the robot walks with making the center of gravity lie on the two legs supporting line. Realization of the diagonal intermittent trot gait is performed by open loop contal and motion planning of the proposed gait. The validity of the purposed gait is confirmed by our experiment.