Publication

Hanyang University HumanRobotics Lab

Domestic Journal
4절 메커니즘을 이용한 준정적 포복 시스템
Journal
제어로봇시스템학회 논문지
Vol
Vol. 8, No. 3
Page
pp. 226-232
Author
김해수, 김민건, 양남식, 김희국, 이병주
Year
2002
Date
2002.03
File
4절 메커니즘을 이용한 준정적 포복 시스템.pdf (457.2K) 0회 다운로드 DATE : 2020-10-16 21:59:00
Abstract : In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.