DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Jongwon | ko |
dc.contributor.author | Kim, Young Kook | ko |
dc.contributor.author | Yoon, Byungho | ko |
dc.contributor.author | Kim, Kyung-Soo | ko |
dc.contributor.author | Kim, Soohyun | ko |
dc.date.accessioned | 2023-11-03T02:00:33Z | - |
dc.date.available | 2023-11-03T02:00:33Z | - |
dc.date.created | 2023-11-03 | - |
dc.date.issued | 2014-08 | - |
dc.identifier.citation | 23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014, pp.73 - 78 | - |
dc.identifier.issn | 1944-9445 | - |
dc.identifier.uri | http://hdl.handle.net/10203/314170 | - |
dc.description.abstract | Legged systems are potentially expected to have outstanding mobility. However, they have shown only modest levels of capability to traverse on flat ground. This paper introduces a biped robot inspired by the hind limbs of cats. We present the characteristics of the system and conduct a position analysis based on vector loop equations. Afterwards, the ground clearance and parallel movement of the robotic leg are shown. We present a speed equation in an effort to verify how the major parameters affect the speed. In addition, we explore control strategies for ground speed matching, acceleration, slip, and speed control. A dynamic simulation shows that the biped robot reached 13.31 leg lengths per second (9.3km/h). This biped robot with the speed equation and its control strategies allow us to understand legged locomotion and can show us how to improve the speed. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Design, analysis and simulation of biped running robot | - |
dc.type | Conference | - |
dc.identifier.wosid | 000366603200013 | - |
dc.identifier.scopusid | 2-s2.0-84937559118 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 73 | - |
dc.citation.endingpage | 78 | - |
dc.citation.publicationname | 23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014 | - |
dc.identifier.conferencecountry | UK | - |
dc.identifier.conferencelocation | Edinburgh | - |
dc.identifier.doi | 10.1109/ROMAN.2014.6926233 | - |
dc.contributor.localauthor | Kim, Kyung-Soo | - |
dc.contributor.localauthor | Kim, Soohyun | - |
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