한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2000년도 춘계학술대회 논문집
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- Pages.561-565
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- 2000
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- 2005-8446(pISSN)
이족보행로봇 IWR의 기구학적 모델링과 역동역학 해석
Kinematic Modeling and Inverse Dynamic Analysis of the IWR Biped Walking Robot
초록
This paper deals with dynamic walking and inverse dynamic analysis of the IWR biped walking robot. The system has nine bodies of the multibody dynamics. and all of the .joints of them are made up of the revolute joints at first. The problem of redundant constraint in double support phase is solved by changing the type of the joints considering kinematic relation. To make sure of its dynamic walking, the movement of balancing weight is determined by which satisfies not only the condition of ZMP by applying the principle of D'Alembert but also the contact condition of the ground. The modeling of IWR and dynamic walking are realized using DADS.
키워드