Maintaining rescue posture of articulated double tracked robot based on model predictive control = 모델 예측 제어에 의한 관절 구조 이중 트랙 로봇의 가반 자세 유지

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dc.contributor.advisorKim, Soohyun-
dc.contributor.advisor김수현-
dc.contributor.authorKim, Youngho-
dc.date.accessioned2018-06-20T06:14:40Z-
dc.date.available2018-06-20T06:14:40Z-
dc.date.issued2017-
dc.identifier.urihttp://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=675079&flag=dissertationen_US
dc.identifier.urihttp://hdl.handle.net/10203/242814-
dc.description학위논문(석사) - 한국과학기술원 : 기계공학과, 2017.2,[vi, 59 p. :]-
dc.description.abstractRobots for extreme conditions are in the spotlight as their capability of replacing manpower being put into regions where injuries or death accidents commonly occur, such as battlefields, disaster areas, or danger areas. Rescue robot is developed for these issues. Its purpose is to safely transport injured soldiers in the battlefield. The robot is built with a manipulator on an upper body for carrying soldiers, and a variable configuration double-tracked platform as a lower body suitable for maneuvering through rough terrains. This thesis will apply Model Predictive Control (MPC) to maintain the rescue posture of the robot while moving through rough terrains and to verify its performance through simulation using a multi-body dynamics simulation software called RecurDyn. A scaled down model of the actual design was prototyped to verify the algorithm which was proved to be valid through simulations and to find any further improvements.-
dc.languageeng-
dc.publisher한국과학기술원-
dc.subjectRescue Robot-
dc.subjectModel Predictive Control-
dc.subjectMaintaining Rescue Posture-
dc.subjectZMP (Zero Moment Point)-
dc.subjectInverse Kinematics-
dc.subject구난 로봇-
dc.subject모델 예측 제어-
dc.subject가반 자세 유지-
dc.subject영 모멘트 점-
dc.subject역기구학-
dc.titleMaintaining rescue posture of articulated double tracked robot based on model predictive control = 모델 예측 제어에 의한 관절 구조 이중 트랙 로봇의 가반 자세 유지-
dc.typeThesis(Master)-
dc.identifier.CNRN325007-
dc.description.department한국과학기술원 :기계공학과,-
dc.contributor.alternativeauthor김영호-
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ME-Theses_Master(석사논문)
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