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dc.contributor.advisor 오세훈 - Jeongwoo Hong - 2023-09-18T21:01:04Z - 2023-09-18T21:01:04Z - 2023 -
dc.identifier.uri -
dc.identifier.uri -
dc.description Quadruped robot locomotion; Spring-Loaded Inverted Pendulum (SLIP); Rotating Workspace Disturbance Observer (RWDOB); Rotating Workspace Force Observer (RWFOB); Admittance control -
dc.description.tableofcontents I. Introduction

II. Establishment of Trunk and Leg Coordinates
2.1 Rotating Workspace for SLIP Motion Description
2.2 Description of Trunk Motion

III. SLIP Motion Realization of Articulated Leg
3.1 Projection of Leg Dynamics onto Rotating Workspace
3.2 GRF Estimation in the Rotating Workspace
3.3 Admittance Control for Compliance Rendering

IV. Trunk Locomotion Generation
4.1 Quadrupedal Locomotion in the Aspect of SLIP Motion
4.2 Gait Scheduler
4.3 Trajectory Generation for Swinging Leg Motion
4.4 Trajectory Generation for Supporting Leg Motion

V. Results
5.1 Simulation Results
5.1.1 Evaluation of Leg Controller for SLIP Realization
5.1.2 Simulation of Quadruped Gait
5.2 Experimental Results

VI. Conclusions
dc.format.extent 29 -
dc.language eng -
dc.publisher DGIST -
dc.title Novel Quadruped Robot Locomotion Control based on the SLIP-like Behavior Projected Leg Dynamics Controller in the Rotating Workspace -
dc.type Thesis -
dc.identifier.doi 10.22677/THESIS.200000686860 - Master -
dc.contributor.department Department of Robotics and Mechatronics Engineering -
dc.contributor.coadvisor Dongwon Yun - 2023-08-01 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.citation XT.RM 홍74 202308 - 2023-09-14 -
dc.contributor.alternativeDepartment 로봇및기계전자공학과 -
dc.subject.keyword Quadruped robot locomotion -
dc.subject.keyword Spring-Loaded Inverted Pendulum (SLIP) -
dc.subject.keyword Rotating Workspace Disturbance Observer (RWDOB) -
dc.subject.keyword Rotating Workspace Force Observer (RWFOB) -
dc.subject.keyword Admittance control -
dc.contributor.affiliatedAuthor Jeongwoo Hong -
dc.contributor.affiliatedAuthor Sehoon Oh -
dc.contributor.affiliatedAuthor Dongwon Yun -
dc.contributor.alternativeName 홍정우 -
dc.contributor.alternativeName Sehoon Oh -
dc.contributor.alternativeName 윤동원 -
dc.rights.embargoReleaseDate 2025-08-31 -
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Department of Robotics and Mechatronics Engineering Theses Master


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