DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Kim, Soo Hyun | - |
dc.contributor.advisor | 김수현 | - |
dc.contributor.advisor | Lee, Dai Gil | - |
dc.contributor.advisor | 이대길 | - |
dc.contributor.author | Lee, Jinyi | - |
dc.contributor.author | 이진이 | - |
dc.date.accessioned | 2018-05-23T19:32:39Z | - |
dc.date.available | 2018-05-23T19:32:39Z | - |
dc.date.issued | 2017 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=718793&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/241721 | - |
dc.description | 학위논문(박사) - 한국과학기술원 : 기계공학과, 2017.8,[v, 102 p. :] | - |
dc.description.abstract | Biped robots have high potential for rough terrain movement, mission performance, and narrow space movement. Especially, the necessity for a high-speed running legged robot is emerging, and there is a high demand for a core technology to realize this. The foot structure of the legged robot is a part in direct contact with the ground, and plays a very important role in supporting a stable body weight, generation of forward power, and shock absorption during fast running. In particular, proper compliance with legs and feet is essential for fast and efficient operation. In this thesis, we developed a flexible foot using carbon fiber composite material with excellent mechanical properties and evaluated its performance. We also developed a nonlinear composite compliant foot that utilizes nonlinear compliance effectively to increase the speed of the robot. Finally, a sensor integrated composite foot structure that can measure the ground reaction force in real time for control and utilization has been studied. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | Biped robot▼acompliance▼acarbon fiber composite▼aground reaction force sensing▼afast running | - |
dc.subject | 2족 로봇▼a컴플라이언스▼a탄소섬유복합재 | - |
dc.subject | 지면반력측정▼a고속 주행 | - |
dc.title | Development of composite foot structure including ground reaction force sensing for fast biped robots | - |
dc.title.alternative | 지면 반력 측정이 가능한 이족 고속주행 로봇용 복합재료 발 구조 개발 | - |
dc.type | Thesis(Ph.D) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :기계공학과, | - |
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