그림 1. 4족 보행 로봇 Fig. 1. Quadruped robot
그림 2. 보행로봇의 걸음새 Fig. 2. The gait of a walking robot
그림 3. 2차 및 3차 안정여유 Fig. 3. 2nd and 3rd stable margin
그림 5. 궤적 시간 T에 따른 Y(앞, 뒤) 그래프 Fig. 5. Y(Front, Back) graph with trajectory time T
그림 6. 궤적 시간 T에 따른 Z(위, 아래) 그래프 Fig. 6. Z(Top, Bottom) graph with trajectory time T
그림 7. LSM방식을 사용한 보폭 과 jerk의 변화 Fig. 7. Changes in stride and jerk using LSM
그림 8. 사인파형 방식을 사용한 보폭 과 jerk의 변화 Fig. 8. Changes in stride and jerk using sine wave method
그림 4. ADAMS를 활용한 동역학 해석 Fig. 4. Dynamic analysis using ADAMS
표 1. 시간 T에 따른 다리(앞, 뒤) 기울기변화 Table 1. Changes of leg(front, back) Inclination with time
표 2. 보폭 변화에 따른 각 축의 jerk변화 Table 2. Jerk change of each axis according to stride change.
표 3. 보폭 변화에 따른 jerk의 변화 Table 3. Variation of jerk's wave form according to the change of stride
References
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