3Dimensional biped walking with hip rotation = 허리회전을 이용한 3차원 이족보행에 관한 연구

In this thesis, the optimal maximum angle of pelvic yaw rotation was determined for a model of the humanoid robot DRC-Hubo+ developed by Hubolab, KAIST. In order to improve the energy usage and joint motor wear of the robot, in the form of minimising the squared joint velocity and the position variation respectively, and the work space of the robot. An equation for the pelvic yaw rotation was proposed and utilised in the analysis of the optimal angle. The walking path patterns used in the analysis are based on ZMP-based preview control and Orbital Energy. The robot kinematic model is constructed based on the denavit-hartenberg convention for forward and inverse kinematic. The dynamic robot model is determined numerically, and based on the Euler-Lagrange dynamic equation. The results obtained include a relation between the optimal angle and the step length, for the minimum squared velocity- and for the minimum position variation analyses.
Advisors
Oh, Jun Horesearcher오준호researcherRavn, Oleresearcher
Publisher
한국과학기술원
Issue Date
2016
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2016.2 ,[xiv, 116 p. :]

Keywords

DRC-Hubo+; Pelvic Rotation; Improvement; Optimal; Step length; DRC-휴보+; 허리 회전; 개선; 최적의; 보폭

URI
http://hdl.handle.net/10203/221267
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=657605&flag=t
Appears in Collection
ME-Theses_Master(석사논문)
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