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사족 보행 로봇 발의 비평탄 지형 착지 성능 비교 (Performance Comparison on landing on uneven terrain of quadruped walking robot foot )
Abstract :
This study is for about "development of robot foot for walking on uneven terrain". In order to demonstrate the superiority of landing on uneven terrain of robot foot having parallel linked toes, it provided a comparative analysis of landing performance of robot foot having parallel liked toes and robot foot having point contacted used by a quadruped robot foot for walking in present. The robot foot on uneven terrain has a great effect on a stable dynamic walking throughout of the robot system. Especially, the slip demands fast response time and high power of robot to modify posture of robot, because it breaks dynamic balance of robot on uneven terrain. If those claims are not required, that leads overturn of robot. In this research, the slip is considered important factor when robot is walking stably and reducing a total power of robot. Landing simulation which is available dynamic walking with a quadruped robot landing or walking was produced and used for comparison of two slip formations of robot foot after its landing and walking on uneven terrain and defined Anti-Slip Margin using friction force. It is organized by dynamic software, RecurDyn, to estimate Anti-Slip Margin. Demonstration of walking performance for Anti-Slip Margin on fixed projection is performed with walking simulation. The robot foot having parallel linked toes was found out more successful landing ability than robot foot having point contacted in robot walking simulation device with fixed projection terrain and the higher resistance of slip has an effect on the total driving power of robot walking can be reduced.
