Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 오세훈 | - |
| dc.contributor.author | Jeongwoo Hong | - |
| dc.date.accessioned | 2023-09-18T21:01:04Z | - |
| dc.date.available | 2023-09-18T21:01:04Z | - |
| dc.date.issued | 2023 | - |
| dc.identifier.uri | http://hdl.handle.net/20.500.11750/46429 | - |
| dc.identifier.uri | http://dgist.dcollection.net/common/orgView/200000686860 | - |
| 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 | - |
| dc.description.degree | Master | - |
| dc.contributor.department | Department of Robotics and Mechatronics Engineering | - |
| dc.contributor.coadvisor | Dongwon Yun | - |
| dc.date.awarded | 2023-08-01 | - |
| dc.publisher.location | Daegu | - |
| dc.description.database | dCollection | - |
| dc.citation | XT.RM 홍74 202308 | - |
| dc.date.accepted | 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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