대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2008년도 추계학술대회A
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- Pages.876-881
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- 2008
LIPM 을 이용한 이족 로봇의 보행 속도 변화
Speed Translation for Walking Biped Robots using LIPM
- 발행 : 2008.11.05
초록
When biped robots speed up to run and reduce speed to walk after running, it needs stable speed translation. This paper proposed simple speed translation using the modified LIPM (Linear Inverted Pendulum Mode). We can change stride and period time of a biped robot in some bounded sets with this propose algorithm. This method is simple and effective in simulation.
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