대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1999년도 하계학술대회 논문집 G
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- Pages.3092-3094
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- 1999
이족 보행 로봇의 인간과 유사한 지속보행을 위한 걸음새 구현
Gait Implementation of Biped Robot for a continuous human-like walking
- 진광호 (인하대학교 자동화공학과) ;
- 구자혁 (인하대학교 자동화공학과) ;
- 장충렬 (인하대학교 자동화공학과) ;
- 최상호 (인하대학교 자동화공학과) ;
- 김진걸 (인하대학교 자동화공학과)
- Jin, Kwang-Ho (Dept. of Industrial Automation Eng. Inha Univ) ;
- Jang, Chung-Ryoul (Dept. of Industrial Automation Eng. Inha Univ) ;
- Koo, Ja-Hyuk (Dept. of Industrial Automation Eng. Inha Univ) ;
- Choi, Sang-Ho (Dept. of Industrial Automation Eng. Inha Univ) ;
- Kim, Jin-Geol (Dept. of Industrial Automation Eng. Inha Univ)
- 발행 : 1999.07.19
초록
This paper deals with the gait generation of Biped Walking Robot (IWR-III) to have a continuous walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. The trunk moves continuously for all walking time and moves toward Z-axis. Balancing motion is acquired by FDM(Finite Difference Method) during the walking. By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis and system stability is confirmed. Walking motion is visualized by 3D-Graphic simulator. As a result, the motion of balancing joints can be reduced by the trunk ahead effect during kick action, and impactless smooth walking is implemented by the experiment.
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