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이족 보행 로봇의 관절부위 유연특성 시뮬레이션에 관한 연구
이기주(Lee, Ki-Joo),박중경(Park, Joong-Kyung),임시형(Lim, Si-Hyung),임홍재(Yim, Hong-Jae) 한국소음진동공학회 2007 한국소음진동공학회 논문집 Vol.17 No.10
Compliance of joints must be considered when we analyze dynamics of a multi-body system. If the virtual model for CAE(computer aided engineering) analysis does not consider compliance, the result of CAE analysis can be very different from the actual experimental result. Especially in a biped walking robot, the robot may lose walking stability due to the compliance in joints of a walking robot. This paper proposed a method applying a compliance of joints in the biped walking robot to a virtual model. Also, through the 3-D displacement measurement using a laser tracker, it was demonstrated that the virtual model considering the joint compliance could effectively simulate the nonlinear motion of the real model.