Compass-gait Walker 의 역학적 모델 및 제어 방법: 학부생들을 위한 운동방정식 유도, 시뮬레이션 방법 소개

다국어 초록 (Multilingual Abstract)

Student majoring in engineering are interested in bipedal robot research. However, it is not easy to know what they need to study or understand, at first. For them we present contents by taking compass-gait walker as an example. To control the compass walker, we have to construct dynamic model using kinematics and kinetics. It is important to take a closer look at the event of a heal strike in detail. When a heel strike occurs, the walker gets the impulsive force from the ground that causes abrupt velocity changes. After constructing dynamic model, we make the trajectories for the walker to follow. We can use a PD controller for the tracking control. The results show that the compass-gait walker can walk resembling human walking.