Proceeding of EDISON Challenge (EDISON SW 활용 경진대회 논문집)

Korea Institute of Science and Technology Information (한국과학기술정보연구원)
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Pass obstacle walking robot using Jansen mechanism

경사/장애물/특수 표면을 이동할 수 있는 얀센 매커니즘 기반의 보행기구 설계

  • Song, Chi kwang (Dept. of Mechanical Engineering, Young Nam Univ.) ;
  • Park, Jung bin (Dept. of Mechanical Engineering, Young Nam Univ.) ;
  • Choi, Hoon (Dept. of Mechanical Engineering, Young Nam Univ.) ;
  • Kim, Jong hyuk (Dept. of Mechanical Engineering, Young Nam Univ.) ;
  • An, Hyun kyum (Dept. of Mechanical Engineering, Young Nam Univ.) ;
  • Lee, Gun hee (Dept. of Mechanical Engineering, Young Nam Univ.)
  • 송치광 (영남대학교기계공학부) ;
  • 박정빈 (영남대학교기계공학부) ;
  • 최훈 (영남대학교기계공학부) ;
  • 김종혁 (영남대학교기계공학부) ;
  • 안현겸 (영남대학교기계공학부) ;
  • 이건희 (영남대학교기계공학부)
  • Published : 2016.03.22
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Abstract

Based on the Jansen mechanism theory, a walking robot is developed, which is able to overcome the given obstacles. Taking joint positions and leg directions as design parameters, the walking robot is analyzed. In order to analyze and optimize the leg motion, Edison program and Jansen mechanism optimization solver are used, respectively. It is found that Edison program is so effective to determine joint variables and position of leg direction. With the help of these programs, lots of trials or errors could be saved.

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