대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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- Pages.98-100
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- 1997
이족보행로봇의 충돌효과 해석과 이를 고려한 효율적인 걸음걸이의 생성
The Analysis of Impact Effect and Efficient Gait Generation Considering the Impact Effect for a Biped Robot
- Kim, Hong-Ryeol (Electrical Eng. Dep., Myong Ji Univ.) ;
- Kim, Dong-Jun (Electrical Eng. Dep., Myong Ji Univ.) ;
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Kim, Dae-Won
(Division of Electrical and Electronics Eng., Myong Ji Univ.)
;
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Kim, Kab-Il
(Division of Electrical and Electronics Eng., Myong Ji Univ.)
- 발행 : 1997.11.29
초록
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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