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
- 2014.10
- 수록면
- 227 - 232 (6page)
이용수
초록· 키워드
오류제보하기
For decades, popular culture has been enthralled with the possibility of robots that act and look like human. Walking, as one of the most important features of human, needs to be well implemented by humanoid robots. In order to perform stable robot gait, it is necessary to control the position of the Zero Moment Point (ZMP) of the robot. To calculate the ZMP, forces and moments under robot feet are important information to use. Thus, in this paper, we describe the development of a three-axis force/torque sensor to measure forces under robot feet in walking movement. The key point of this sensor is that it is very thin and light so as to not disturb the robots’ gait. It also has sufficient stiffness to support heavy load. The simple structure and low cost of this sensor are also attractive points. Finite element analysis results of the sensor revealed that it is adequate to be used under robot feet.
목차
Abstract
1. INTRODUCTION
2. MEASURING PRINCIPLE
3. STRUCTURE DESIGN
4. STRESS AND STRAIN ANALYSIS
5. CONCLUSION AND FUTUREWORK
REFERENCES
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