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무동력 이족보행 로봇에서 다리 무게 추 위치의 영향 연구
이중빈(Jungbin Lee),정해웅(Haewoong Jeong),강서호(Seoho Kang),조현준(Hyunjune Cho),권훈(Hoon Kwon),고현진(Hyeonjin Ko),정이환(Yihwan Jung),구승범(SeungBum Koo) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This study investigated the effect of center of mass in the passive bipedal walker. We made a SimMechanics model of a passive bipedal walker and compared it with experimental data of the real physical bipedal walker. In this simulation, the effect of gravity, contact force and joints were implemented. We obtained the foot clearance and knee angular velocity in accordance with the center of gravity location in simulation. The foot clearance during swing phase increased as the center of mass of thigh and shank move lower and higher, respectively. Angular velocity of the knee decreased as the center of mass of thigh and shank move higher and lower, respectively.