EDISON SW 활용 경진대회 논문집 (Proceeding of EDISON Challenge)
- 제5회(2016년)
- /
- Pages.424-428
- /
- 2016
얀센 메커니즘을 적용한 보행 로봇 다리의 운동학 해석
Kinematic Analysis of A Walking Robot Leg Based on Jansen Mechanism
- KIM, YOUNG-DOO (School of Mechanical Engineering Chung-Ang Univ.) ;
- BANG, JEONG-HYUN (Dept. of Electrical & Electronic Engineering Chung-Ang Univ.)
- 발행 : 2016.03.22
초록
This paper presents the kinematics of a walking robot leg based on Jansen mechanism. By using simple mathematics, all trajectories of walking robot leg links can be calculated. A foot point trajectory is used to evaluate the performance of a walking robot leg. Trial and Error method is used to find a best combination of link lengths under certain restrictions. All simulations are performed by Matlab. Ground score, drag score, step size, foot lift, instant speed, and average speed of foot point trajectories are used for selecting the best one.