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
- 학술저널
- 저자정보
- 발행연도
- 2011.9
- 수록면
- 230 - 236 (7page)
이용수
초록· 키워드
오류제보하기
In previous researches, the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we prove the self-stable region of the three segment leg designed by the proposed design direction.
목차
Abstract
1. 서론
2. 저속 및 고속주행에서 안정영역을 갖는 3SL 설계방향
3. 3SL 설계 및 안정영역 검증
4. 결론
참고문헌
참고문헌 (7)
참고문헌 신청
1. [학술지(정기간행물)] - S. Collins / 2005 / Efficient Bipedal Robots Based on Passive- Dynamic Walkers / Science 307 : 1082 ~
2. [학술지(정기간행물)] - J. Rummel / 2008 / Stable Running with Segmented Legs / The International Journal of Robotics Research 27 (8) : 919 ~ 934
3. [학술대회논문] - J. Rummel / 2008 / Enlarging Regions of Stable Running with Segmented Legs / IEEE International Conference on Robotics and Automation : 3697 ~ 372
4. [학술지(정기간행물)] - L. M. Day / 2007 / Interspecific scaling of the morphology and posture of the limbs during the locomotion of cats (Felidae) / The Journal of Experimental Biology 210 : 642 ~ 654
5. [학술지(정기간행물)] - A. Seyfarth / 2001 / Stable operation of an elastic three-segment leg / Biological Cybernetics 84 (5) : 365 ~ 382
2. [학술지(정기간행물)] - J. Rummel / 2008 / Stable Running with Segmented Legs / The International Journal of Robotics Research 27 (8) : 919 ~ 934
3. [학술대회논문] - J. Rummel / 2008 / Enlarging Regions of Stable Running with Segmented Legs / IEEE International Conference on Robotics and Automation : 3697 ~ 372
4. [학술지(정기간행물)] - L. M. Day / 2007 / Interspecific scaling of the morphology and posture of the limbs during the locomotion of cats (Felidae) / The Journal of Experimental Biology 210 : 642 ~ 654
5. [학술지(정기간행물)] - A. Seyfarth / 2001 / Stable operation of an elastic three-segment leg / Biological Cybernetics 84 (5) : 365 ~ 382
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UCI(KEPA) : I410-ECN-0101-2020-559-001259296