biped_robot_with_quad_roller_skates
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biped_robot_with_quad_roller_skates [2016/10/17 09:57] wlgns5220 created |
biped_robot_with_quad_roller_skates [2016/10/17 11:48] (현재) wlgns5220 |
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| The locomotion of legged robots is less effective than that of wheeled robots in a regular terrain. Thus, to improve the locomotion efficiency in a regular terrain, this study presents a small biped walking robot with an auxiliary transportation device consisting of quad roller skates composed of passive wheels mounted on the sole of each foot. An algorithm is proposed to generate skating motion for the robot with quad passive wheels. Skating motion is divided into 6 movements and generated by planning the skating motion based on considering the Zero Moment Point(ZMP). The results indicate that the developed robot is able to generate an effective skating motion.// | The locomotion of legged robots is less effective than that of wheeled robots in a regular terrain. Thus, to improve the locomotion efficiency in a regular terrain, this study presents a small biped walking robot with an auxiliary transportation device consisting of quad roller skates composed of passive wheels mounted on the sole of each foot. An algorithm is proposed to generate skating motion for the robot with quad passive wheels. Skating motion is divided into 6 movements and generated by planning the skating motion based on considering the Zero Moment Point(ZMP). The results indicate that the developed robot is able to generate an effective skating motion.// | ||
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| - | <html> | ||
| - | <table border="0" width="850" height="500"> | ||
| - | <tr> | ||
| - | <td rowspan="2"><img src="http://irl.knu.ac.kr/ftp/Labpage/Research/Biped%20Robot%20with%20Quad%20Roller%20Skates/basic_skating.JPG" width="470" height="620"></td> | ||
| - | <td rowspan="2"><img src="http://irl.knu.ac.kr/ftp/Labpage/Research/Biped%20Robot%20with%20Quad%20Roller%20Skates/swizzle_skating.JPG" width="470" height="620"></td> | ||
| - | <tr> | ||
| - | </table> | ||
| - | </html> | ||
| - | <html> | ||
| - | <table border="0" width="1000" height="400"> | ||
| - | <tr> | ||
| - | <td><embed src="http://irl.knu.ac.kr/ftp/Labpage/flvplayer/flvplayer.swf" width="370" height="300" bgcolor="undefined" | ||
| - | allowscriptaccess="always" allowfullscreen="true" flashvars="file=http://irl.knu.ac.kr/ftp/Labpage/Research | ||
| - | /Biped%20Robot%20with%20Quad%20Roller%20Skates/c_basic skating.flv&image=http://irl.knu.ac.kr/ftp/Labpage/Research | ||
| - | /Biped%20Robot%20with%20Quad%20Roller%20Skates/Basic skating.JPG"></td> | ||
| - | <td><embed src="http://irl.knu.ac.kr/ftp/Labpage/flvplayer/flvplayer.swf" width="370" height="300" bgcolor="undefined" | + | |
| - | allowscriptaccess="always" allowfullscreen="true" flashvars="file=http://irl.knu.ac.kr/ftp/Labpage/Research | + | {{:pasted:20161017-111740.png?400}} |
| - | /Biped%20Robot%20with%20Quad%20Roller%20Skates/c_swizzle skating.flv&image=http://irl.knu.ac.kr/ftp/Labpage/Research | + | {{:pasted:20161017-111744.png?400}} |
| - | /Biped%20Robot%20with%20Quad%20Roller%20Skates/Swizzle skating.JPG"></td> | + | |
| - | <tr> | + | <flashplayer width=400 height=350>file=/data/media/c_basic_skating_1_.flv&image=/data/media/basic_skating_2_.jpg</flashplayer> |
| - | </table> | + | |
| - | </html> | + | <flashplayer width=400 height=350>file=/data/media/c_swizzle_skating_1_.flv&image=/data/media/swizzle_skating_1_.jpg</flashplayer> |
biped_robot_with_quad_roller_skates.1476665877.txt.gz · 마지막으로 수정됨: 2016/10/17 09:57 저자 wlgns5220
별도로 명시하지 않을 경우, 이 위키의 내용은 다음 라이선스에 따라 사용할 수 있습니다: CC Attribution-Share Alike 3.0 Unported
