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http://dx.doi.org/10.5050/KSNVN.2007.17.10.907

A Study on Computer Simulation of Joint Compliance for a Biped Robot  

Lee, Ki-Joo (국민대학교 기계자동차공학부)
Park, Joong-Kyung (삼성전자(주) 메카트로닉스센터)
Lim, Si-Hyung (국민대학교 기계자동차공학부)
Yim, Hong-Jae (국민대학교 기계자동차공학부)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.17, no.10, 2007 , pp. 907-911 More about this Journal
Abstract
Compliance of joints must be considered when we analyze dynamics of a multi-body system. If the virtual model for CAE(computer aided engineering) analysis does not consider compliance, the result of CAE analysis can be very different from the actual experimental result. Especially in a biped walking robot, the robot may lose walking stability due to the compliance in joints of a walking robot. This paper proposed a method applying a compliance of joints in the biped walking robot to a virtual model. Also, through the 3-D displacement measurement using a laser tracker, it was demonstrated that the virtual model considering the joint compliance could effectively simulate the nonlinear motion of the real model.
Keywords
Joint Compliance; Biped Robot; ZMP; Actuator;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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