대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2000년도 춘계학술대회논문집A
- /
- Pages.523-528
- /
- 2000
4관절 3링크 2족 로봇과 걸음새에 관한 연구
Design of 4 joints 3 Link Biped Robot and Its Gaits
- 발행 : 2000.04.20
초록
In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by