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논문 기본정보
휴머노이드 로봇의 동보행 안정도에 관한 연구
논문 개요
| 기관명 | NDSL |
|---|---|
| 저널명 | 한국기계가공학회지 = Journal of the Korean Society of Manufacturing Technology |
| ISSN | 1598-6721,2288-0771 |
| ISBN |
논문저자 및 소속기관 정보
| 저자(한글) | 이지영,조정산,이상재 |
|---|---|
| 저자(영문) | |
| 소속기관 | |
| 소속기관(영문) | |
| 출판인 | |
| 간행물 번호 | |
| 발행연도 | 2016-01-01 |
| 초록 | In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method. |
| 원문URL | http://click.ndsl.kr/servlet/OpenAPIDetailView?keyValue=03553784&target=NART&cn=JAKO201615952962935 |
| 첨부파일 |
추가정보
| 과학기술표준분류 | |
|---|---|
| ICT 기술분류 | |
| DDC 분류 | |
| 주제어 (키워드) | 휴머노이드 로봇,안정도,동보행,영모멘트점,무게중심,도립진자,Humanoid Robot,Stability,Dynamic Walking,ZMP,COG,Inverted Pendulum |