지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,882 - 1,885 (4page)
이용수
초록· 키워드
오류제보하기
This We present a new approach for robust walking of a biped robot, on uneven terrain, A biped robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a robust control algorithm for stable walking is proposed using the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and experiments on a 20-DOFs humanoid robot.
목차
Abstract
1. INTRODUCTION
2. ROBOT SYSTEM ANALYSIS
3. OPERATION
4. RESULTS AND CONCLUSION
REFERENCES
참고문헌 (0)
참고문헌 신청이 논문의 저자 정보
최근 본 자료
댓글(0)
0