이륜 역진자형 이동로봇의 동역학 해석

다국어 초록 (Multilingual Abstract)

Recent researches in the robotics have been directed to the interaction between humans and robots, similarly to the<br/>
relationship between humans and animals. We developed the interactive emotional robot, "RAI" that can be adapted<br/>
to the human living environments. This paper presents the mechanism design and dynamic analysis of the newlydeveloped<br/>
robot considering its emotional meanings and operations. The two-wheeled inverted pendulum type<br/>
mechanism is selected to this robot system, because it can improve the mobility as lower curve radius and make the<br/>
innate clumsy monoaxial motion while controlling it. This robot can move freely in a plane with the help of various<br/>
sensors including gyro.

목차 (Table of Contents)

• ABSTRACT
  
• 1. 서론
  
• 2. 이동로봇 시스템
  
• 3. 동역학
  
• 4. 2자유도 제어기 설계
  
• 5. 실험
  
• 6. 결론
  
• 후기
  
• 참고문헌