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Analysis on Regular Rotational Gait of a Quadruped Walking Robot
Whee Kuk Kim,이병주,조황 제어·로봇·시스템학회 2002 International Journal of Control, Automation, and Vol.4 No.2
In this paper, the regular rotational gaits of the quadruped crawling robot are studied. It is assumed that the proposed regular rotational gaits starts form one of six support patterns in a translational gaits and end up with one of six patterns in a translational gaits. Noting that siz support patterns in a regular translational gait belong to two different groups with respect to regular rotational gait, the static stability margin and the maximum rotational displacement during one rotational stride period for the two representative support patterns are investigated. It is expected that the proposed regular rotational gaits will enhance the omni-directional characteristics of the quadruped crawling robot.