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저속 및 고속주행에서 안정영역을 갖는 3 Segment Leg 설계 연구

Title
저속 및 고속주행에서 안정영역을 갖는 3 Segment Leg 설계 연구
Translated Title
Design Study of 3 Segment Leg with Stable Region at low and high Speed Running
Authors
권오석이동하
DGIST Authors
권오석; 이동하
Issue Date
2011-09
Citation
로봇학회 논문지, 6(3), 230-236
Type
Article
Keywords
segment legleg stiffnessself-stabilityrunning robot
ISSN
1975-6291
Abstract
In previous researches^([2,3]) , 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^([1])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.
URI
http://hdl.handle.net/20.500.11750/4986
Publisher
한국로봇학회
Related Researcher
  • Author Kwon, Oh Seok  
  • Research Interests mechanical system modeling, control, robotics, biomechanics
Files:
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Collection:
Convergence Research Center for Wellness1. Journal Articles


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