Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 신동환 | ko |
dc.contributor.author | 안진웅 | ko |
dc.contributor.author | 문전일 | ko |
dc.date.available | 2018-01-25T01:20:30Z | - |
dc.date.created | 2018-01-17 | - |
dc.date.issued | 2011-09 | - |
dc.identifier.citation | 로봇학회 논문지, v.6, no.3, pp.284 - 291 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/5565 | - |
dc.description.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. | - |
dc.language | Korean | - |
dc.publisher | 한국로봇학회 | - |
dc.subject | Wheel-Legged Robot | - |
dc.subject | Hip Joint Actuation | - |
dc.subject | Frictional Coefficient | - |
dc.subject | Tractive Force | - |
dc.title | 고관절 구동 방식을 갖는 바퀴-다리형 로봇과 지면 간 접촉점에서의 마찰계수 추정 | - |
dc.title.alternative | Estimation of the Frictional Coefficient of Contact Point between the Terrain and the Wheel-Legged Robot with Hip Joint Actuation | - |
dc.type | Article | - |
dc.identifier.doi | 10.7746/jkros.2011.6.3.284 | - |
dc.type.local | Article(Domestic) | - |
dc.type.rims | ART | - |
dc.description.journalClass | 2 | - |
dc.identifier.kciid | ART001579013 | - |
dc.identifier.citationVolume | 6 | - |
dc.identifier.citationNumber | 3 | - |
dc.identifier.citationStartPage | 284 | - |
dc.identifier.citationEndPage | 291 | - |
dc.identifier.citationTitle | 로봇학회 논문지 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | 신동환 | - |
dc.contributor.affiliatedAuthor | 안진웅 | - |
dc.contributor.affiliatedAuthor | 문전일 | - |
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