대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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이족 보행 로봇의 초기 자세에 따른 걸음새 해석에 관한 연구

A Study on the Gait Analysis for Initial Posture of a Biped Robot

  • 노경곤 (인하대학교 자동화공학과) ;
  • 정진걸 (인하대학교 자동화공학과)
  • Noh, Kyung-Kon (Dept of Industrial Automation Eng. Inha University) ;
  • Kim, Jin-Geol (Dept of Industrial Automation Eng. Inha University)
  • 발행 : 2001.11.24
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초록

This paper deals with the biped robot gait on changing the initial postures. Gait of a biped robot depends on the constraints of mechanical kinematics and initial posture. Also biped robot's dynamic walking stability is investigated by ZMP(Zero Moment Point). The path trajectory. with the knee joint bent like a human, is generated and applied with the above considerations. To decrease trajectory tracking error, in this paper, a new initial posture similar to bird's case is proposed and realized with the real robot.

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