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
- 2014.12
- 수록면
- 264 - 271 (8page)
이용수
초록· 키워드
오류제보하기
In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots
목차
Abstract
1. 서론
2. 관절 요구 특성의 분석
3. 액츄에이터의 구성 및 선정
4. 결론
References
참고문헌 (15)
참고문헌 신청
1. [학술대회논문] - Sakagami, Y. / 2002 / The intelligent ASIMO: system overview and integration / IEEE/RSJ International Conference on Intelligent Robots and System 3 : 2478 ~ 2483
2. [학술대회논문] - Kaneko, K. / 2002 / Design of prototype humanoid robotics platform for HRP / IEEE/RSJ International Conference on Intelligent Robots and System 3 : 2431 ~ 2436
3. [학술대회논문] - J.-H. Oh / 2008 / Design of Android type Humanoid Robot Albert HUBO / Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems : 1428 ~ 1433
4. [학술대회논문] - Takayuki Kanda / 2002 / Development and Evaluation of an Interactive Humanoid Robot "Robovie" / Proceedings of the 2002 IEEE International Conference on Robotics 8 Automation : 1848 ~ 1855
5. [학술지(정기간행물)] - 박찬훈 / 2008 / 산업용 양팔로봇의 설계 및 제어 / 한국정밀공학회지 25 (11) : 58 ~ 65
2. [학술대회논문] - Kaneko, K. / 2002 / Design of prototype humanoid robotics platform for HRP / IEEE/RSJ International Conference on Intelligent Robots and System 3 : 2431 ~ 2436
3. [학술대회논문] - J.-H. Oh / 2008 / Design of Android type Humanoid Robot Albert HUBO / Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems : 1428 ~ 1433
4. [학술대회논문] - Takayuki Kanda / 2002 / Development and Evaluation of an Interactive Humanoid Robot "Robovie" / Proceedings of the 2002 IEEE International Conference on Robotics 8 Automation : 1848 ~ 1855
5. [학술지(정기간행물)] - 박찬훈 / 2008 / 산업용 양팔로봇의 설계 및 제어 / 한국정밀공학회지 25 (11) : 58 ~ 65
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UCI(KEPA) : I410-ECN-0101-2020-559-001258153