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
- 2013.10
- 수록면
- 1,117 - 1,122 (6page)
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초록· 키워드
오류제보하기
This study proposes a locomotion controller for a single-legged robot. The locomotion controller comprises five parts: virtual spring, height control, forward velocity control, body attitude control, and running direction control. First, we propose an effective method called a virtual spring to generate a springy force using a linear actuator. Second, a height controller is proposed based on the resonance oscillation using two virtual springs. And, they are also adopted to compute the energy exchange and to compensate the energy loss during hopping. In addition, a running direction controller, which has never been resolved in previous studies, is proposed. This novel controller can remove the unexpected angular motion about the yaw direction during running. All of the proposed algorithms and methods are validated through dynamic simulations.
목차
Abstract
1. INTRODUCTION
2. DYNAMIC SIMULATOR
3. HEIGHT CONTROL
4. RUNNING DIRECTION CONTROL
5. CONCLUSIONS
REFERENCES
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