The Analysis of Impact Effect and Efficient Gait Generation Considering the Impact Effect for a Biped Robot

이족보행로봇의 충돌효과 해석과 이를 고려한 효율적인 걸음걸이의 생성

  • 김홍렬 (명지대학교 전기공학과) ;
  • 김동준 (명지대학교 전기공학과) ;
  • 김대원 (명지대학교 전기전자공학부) ;
  • 김갑일 (명지대학교 전기전자공학부)
  • Published : 1997.11.29

Abstract

This paper proposes a mathematical model of impact force generated by collision between landing foot and ground, by which a dynamic analysis and a supplementation of existing stability criteria are made. By using the proposed dynamic analysis, an energy-optimized gaital algorithm is proposed. To prove the effectiveness of the algorithm, simulation results are shown compared to the result of previous gaital algorithm.

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