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국내 최대 정보 기계·건설 공학연구정보센터
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    제목(국문)
    제목(영문) Dynamic Posture Stabilization of a Biped Robot SUBO-1 on Slope-Changing Grounds
    저자 - (Baek-Kyu Cho ,School of Mechanical Engineering, Kookmin University ) ▷공저자네트워크등록하기
    김정엽 (Jung-Yup kim ,Department of Mechanical System Design Engineering, Seoul National University of Science and Technology ) ▷공저자네트워크등록하기
    초록
    초록(영문)

    This paper describes a model-based dynamic posture stabilization of a biped robot on slope changing grounds. The ground slope
    generaUy is changing when a biped robot is walking outdoors on uneven grounds. Hence, if biped robots are used outside, their
    robustness against slope-changing grounds is necessary for stable walking. In this paper, a Zero Moment Point (ZMP) controller on
    level ground was designed as a basic posture stabilizer, and a disturbance observer (DOB) was additionally designed to reject a
    disturbance due to the ground slope. A simple single inverted pendulum model with a flexible joint is used for the ZMP controller
    and DOB designs. Finally, the peiformance of the proposed ZMP-DOB controller was verified through MATLAB simulations and
    walking in place experiments using a biped robot, SUB0-1 on a slope-changing treadmill.

    keyword Biped robot, Slope-changing ground, Dynamic posture stabilization
    저널명 International Journal of Precision Engineering and Manufacturing ▷관련저널보기
    VOL 19
    PAGE 1003
    발표년도 2018
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