한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)

한국지능시스템학회 (Korean Institute of Intelligent Systems)
권호 표지

4족 보행 로봇

Walking robot with 4 legs

  • 장성환 (중앙대학교 전자전기공학부) ;
  • 강훈 (중앙대학교 전자전기공학부)
  • Jang, Sung-Hwan (School of Electrical and Electronics Eng., Chung-Ang Univ.) ;
  • Kang, Hoon (School of Electrical and Electronics Eng., Chung-Ang Univ.)
  • 발행 : 2001.12.01
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초록

This paper explains the walking robot with 4 legs. One leg is composed of 4 dc server motors and have 4 d.o.f. This walking robot has simple structure using the principle of lever. The structure of robot models the 4 legs animal such as dog. The walking patterns is various and complex. With Inspecting the walking dogs, the walking motions implemented by patterns. The center of mass is important of this type robot. The significant issue of walking is weight. As the weight is lighter, so the robot well walks. The method of walking is patterns.

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