Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Analysis on Boundary Condition for Standing Balance of Four-Legged Robots

4족 로봇의 정지 밸런스를 위한 경계 조건 분석

  • Kim, Byoung-Ho (Biomimetics & Intelligent Robotics Lab., Dept. of Mechatronics Eng., Kyungsung Univ.)
  • 김병호 (경성대학교 메카트로닉스공학과 생체모방및지능로봇 연구실)
  • Received : 2011.11.19
  • Accepted : 2011.12.05
  • Published : 2011.12.25
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Abstract

This paper analyzes the standing balance of four-legged robots which are useful for delivering objects or investigating of information. For this, we specify an effective model of general four-legged robots and propose a boundary condition based on the standing stability of the four-legged walking. To verify such a standing balance, we consider some exemplary free motions at the standing mode of the robot and discuss on the robot's balance margin. The analysis specified in this paper will be applicable for effective balancing control of various quadruped robotic walking.

본 논문에서는 물체의이동이나 정보 탐색을위하여 유용하게 사용될 수 있는 4족 로봇의 정지 밸런스를 분석하고자 한다. 이 목적을위하여, 일반적인 4족 로봇의유용한 모델을 제시하고, 정지 안정성을 고려한 경계 조건을 제안한다. 착지된 상태에서 4족 로봇의 정지 밸런스를 분석하기 위하여 다양한 자유 운동을 고려하며, 시뮬레이션을 통하여 밸런스 여유를 고찰한다. 이러한 분석은 4족 로봇 보행의 효과적인 밸런싱 제어를 위하여 유용하게 활용될 수 있을것이다.

Keywords

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