접촉 반력을 이용한 4족 보행로봇의 경사면 감지 및 보행 알고리즘 = Slope Detecting and Walking Algorithm of a Quadruoed Robot Using Contact Forces

다국어 초록 (Multilingual Abstract)

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface Walking through slope is one of the typical tasks for such case Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet Adjusting algorithm of foot trajectory was studied with the estimated angle of slope without visual feedback A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point

목차 (Table of Contents)

• ABSTRACT
• 1. 서론
• 2. 경사면 판별과 보행 알고리즘
• 3. 보행실험 및 그 결과
• 4. 결론
• 참고문헌