http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : 채기주(Key Gew Chae) (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
-
채기주(Key Gew Chae),박종현(Jong Hyeon Park) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
This paper proposes an optimal galloping trajectory which costs low energy and guarantees the stability of the quadruped robot. In the realization of the fast galloping, the trajectory design is important. As a galloping trajectory, we propose an elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic trajectory, as an imitation of animal galloping motion, does not guarantee stability and minimal energy consumption. We propose optimization based on the energy and stability using a genetic algorithm, which provides the robust and global solution to a multi-body, highly nonlinear dynamic system. To evaluate and verify the effectiveness of the proposed trajectory, computer simulations were carried out.
-
신창록(Chang-Rok Shin),채기주(Key Gew Chae),박종현(Jong Hyeon Park) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This work introduces the quadruped robot designed at Hanyang University and preliminary dynamic simulation of dynamic walk, which is called HUNTER (Hanyang UNiversity TEtrapod Robot). HUNTER has three active joints and one passive spring-loaded joint at each leg. Its design is based on the analysis of the characteristics of typical 4-legged animals in walking and running. The passive joints at the legs were designed to reduce the ground impact in landing and to be able to reuse the stored energy in the springs. The apparatus of the hardware was analyzed in FEM to reduce the weight while maintaining the strength of the structure of the robot. All the design parameters of the structure as well as actuators are selected based on dynamic simulations. In this work, the results of simulating a dynamic walk are also described.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
