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
- 저널정보
- 한국정보통신학회 INTERNATIONAL CONFERENCE ON FUTURE INFORMATION & COMMUNICATION ENGINEERING 2014 INTERNATIONAL CONFERENCE ON FUTURE INFORMATION & COMMUNICATION ENGINEERING Vo.6 No.1
- 발행연도
- 2014.6
- 수록면
- 176 - 180 (5page)
이용수
초록· 키워드
오류제보하기
Imitation control is a well-known method for biped robot walking, which uses an operator motion data to a robot’s walk. But, direct usage of the data usually results in dynamically unstable motion. Also, time delay between the operator’s motion data and the robot’s joint motion through communication system can affect the stability of the robot walking. This paper studies challenging issues to overcome the postural instability caused by both communication delays and dynamics of the robot. Key concept is to trace the CoP (center of pressure) as fast as possible and to control the robot’s ankle of the supporting foot before falling down. The experimental results demonstrate that the biped robot successfully imitates the operator motions and can walk stably by utilizing both the CoP and controlling the robot’s ankle.
목차
Abstract
I. INTRODUCTION
II. CALCULATION OF FALLING TIME
III. CONTROL COMMUNICATION SYSTEM FOR IMITATION
IV. EXPERIMENTS AND RESULTS
V. CONCLUSIONS
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2018-004-000962384