4족 보행로봇의 원격조종을 위한 주기 걸음새 기반의 비주기적 걸음새 제어Aperiodic Gait Control based on Periodic Gait for Teleoperation of a Quadruped Walking Robot

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This paper presents a gait control scheme for teleoperation of a quadruped-walking robot. In teleoperation of a walking robot, an operator gives a real-time generated velocity command to a walking robot instead of a moving trajectory. When the direction of the velocity command is changed, the periodic gait is not available because this requires an initial foot position . This paper proposes the aperiodic gait control scheme that can converge to a periodic gait Simulation results are given to demonstrate the efficiency of the proposed control scheme.
Issue Date
2000-10
Language
KOR
Citation

제어로봇시스템학회 2000년도 제15차 한국자동제어학술회의 , pp.397 - 397

URI
http://hdl.handle.net/10203/137557
Appears in Collection
ME-Conference Papers(학술회의논문)
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