대한전자공학회논문지 (Journal of the Korean Institute of Telematics and Electronics)
- 제25권7호
- /
- Pages.723-733
- /
- 1988
- /
- 1016-135X(pISSN)
부정지형에서 4각 보행로보트의 걸음새 제어에 관한 연구
A Study on the Gait Control of a 4-Legged Walking Robot on Irregular Terrain
- Seong, Il (Production Eng. Center, SAMSUNG Elec. Co.) ;
- Moon, Young-Hyun (Dept. of Electrical. Eng., Yonsei Univ.)
- 발행 : 1988.07.01
초록
In this paper, A model of 4-legged walking robot is presented by investigating the gait of animals, which can walk with maintaining static stability on irregular terrain. Kinematices of the model robot was analyzed by geometric approach, and a gait control algorithm is proposed for the effective walking on irregular terrain. Terrains are classified into 4 types in order to study the terrain adaptability of the proposed algorithm and it is simulated for each type of terrain.
키워드