Theo Jansen Mechanism 기반 보행 기구의 최적 설계를 통한 구동의 안정성 및 속도 확보

Optimized design of walking device based on Theo Jansen Mechanism for securing stability and speed

There are various walking devices based on Theo Jansen mechanism. And these systems controlled by complicate equations. So we decided to optimize the design of walking device with two points of view. The device is required to ensure stability while maintaining the high speed. To simplify the control system, we applied trigonometric ratio with ideal Jansen trajectory. As a result, we were able to draw the connection between height of barrier and Ground Length (GL). Also we could change traveling distance and Ground Angle Coefficient (GAC) by shifting the position of the joints. Through controlling these parameter, we can analyze stability and speed of the device. Ultimately, we develop the device that can walk more efficiently by the optimization process.