Proceeding of EDISON Challenge (EDISON SW 활용 경진대회 논문집)
- 2016.03a
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- Pages.404-410
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- 2016
Design Walking System Based on Theo Jansen Mechanism
얀센 메커니즘 기반의 보행 기구 설계
- Lee, Hyeonkyeong (Dept. of Mechanical Engineering, KAIST) ;
- Yun, Yungkyu (Dept. of Mechatronics Engineering, Koreatech University)
- Published : 2016.03.22
Abstract
Compared to wheel locomotion, walking has many advantages : Better to cross over obstacles, the contact with ground is in a determined point, the ground is damaged less. Because Theo Jansen mechanism can make walking motion that is very soft, there are many researches about that mechanism. In this paper, We designed walking robot based on Theo Jansen mechanism. Most important design factor is velocity and stability. First of all, we considered kinematics knowledge and then, we made a new model by using simulation. Finally we developed the model by solving few design problems.