Cited 0 time in webofscience Cited 0 time in scopus

고관절 구동 방식을 갖는 바퀴-다리형 로봇과 지면 간 접촉점에서의 마찰계수 추정

Title
고관절 구동 방식을 갖는 바퀴-다리형 로봇과 지면 간 접촉점에서의 마찰계수 추정
Translated Title
Estimation of the Frictional Coefficient of Contact Point between the Terrain and the Wheel-Legged Robot with Hip Joint Actuation
Authors
신동환안진웅문전일
DGIST Authors
신동환안진웅문전일
Issue Date
2011-09
Citation
로봇학회 논문지, 6(3), 284-291
Type
Article
Keywords
Wheel-Legged RobotHip Joint ActuationFrictional CoefficientTractive Force
ISSN
1975-6291
Abstract
This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.
URI
http://hdl.handle.net/20.500.11750/5565
DOI
10.7746/jkros.2011.6.3.284
Publisher
한국로봇학회
Related Researcher
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Future Automotive Technology1. Journal Articles
Convergence Research Center for Collaborative Robots1. Journal Articles


qrcode mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE