상세 보기
초록
In this paper, a method for stable running of a biped robot by using null space is proposed. When a trajectory of a biped robot is generated by using IPM(Inverted pendulum model), the robot is assumed as a particle. Therefore, the robot can be unstable when momentum of the robot is changed. In order to solve the problem, resolved momentum control is used. Resolved momentum control is a method that generate angle of joints to satisfy a desired momentum. In this paper, Resolved momentum control is used for stable running. And null space is used to prevent undesirable motion of robot.
키워드
Biped robot(이족보행로봇); Running; Stable running motion(안정적인 주행); Momentum control(운동량제어)
- 제목
- 영공간을 이용한 이족 보행 로봇의 안정적인 주행
- 제목 (타언어)
- Stable Running of a Biped Robot by Using Null Space
- 저자
- 조재욱; 황성욱; 박종현
- 발행일
- 2013-12
- 유형
- Proceeding
- 저널명
- 대한기계학회 2013년도 학술대회
- 페이지
- 1942 ~ 1946