Journal of Institute of Convergence Technology (융복합기술연구소 논문집)
- Volume 4 Issue 2
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- Pages.55-59
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- 2014
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- 2233-8667(pISSN)
DOI QR Code
Biomimetic Balancing Mechanism for Walking Robot
생체모사를 통한 보행로봇의 균형감에 관한 연구
- Kim, Jong Jin (R&D Center, M&D Corp.) ;
- Chung, Seong Youb (Department of Mechanical Engineering, Korea National University of Transportation)
- Received : 2014.11.07
- Accepted : 2014.11.24
- Published : 2014.11.30
Abstract
A cat is able to quickly recover balance from unstable posture. To observe the balance recovery procedure of the cat, an impulse is applied to the cat while walking on a narrow bridge. We find that it rotates its tail toward the falling direction. In our previous research, the balance recovery procedure is analyzed based on the law of the angular momentum conservation and then a key equation is derived to maintain the balance. However, it did not consider the gravity, so the performance is not good. In this paper, a new dynamic model is proposed using the Lagrangian mechanics. In the method, the gravity is included in the potential energy. Through the proposed dynamic model, controlling the balance of a walking robot is possible.