Publication

Hanyang University HumanRobotics Lab

Domestic Journal
다수 체인과 다중 접촉 성격을 지닌 발 메커니즘에 대한 충격량 흡수 기반 해석
Journal
로봇학회논문지
Vol
Vol. 12, No. 2
Page
pp. 161-172
Author
서종태, 오세민, 이병주
Year
2017
Date
2017.05
File
다수_체인과_다중_접촉_성격을_지닌_발_메커니즘에_대한_충격량_흡수_기반_해석.pdf (1.4M) 0회 다운로드 DATE : 2020-10-16 22:31:03
Abstract: Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.