DC Field | Value | Language |
---|---|---|
dc.contributor.author | Han, Sangkwon | ko |
dc.contributor.author | Kim, Jun Hyeok | ko |
dc.contributor.author | Choi, Keun Ha | ko |
dc.contributor.author | Kim, Kyung-Soo | ko |
dc.contributor.author | Kim, Soohyun | ko |
dc.date.accessioned | 2023-10-10T07:00:18Z | - |
dc.date.available | 2023-10-10T07:00:18Z | - |
dc.date.created | 2023-10-10 | - |
dc.date.issued | 2015-12 | - |
dc.identifier.citation | IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, pp.994 - 999 | - |
dc.identifier.uri | http://hdl.handle.net/10203/313120 | - |
dc.description.abstract | The legged type robot generally requires high torques for stable walking and running. However, the robot's electric motor driven actuators usually have a low payload to weight ratio. To overcome this problem and use actuators' power more efficiently, we apply a parallel mechanism to a robot's leg design. A parallel mechanism can distribute a payload over actuators and reduce the actuation torque, and thus enhance the robot's walking stability. The process of optimal design of 3 DOF parallel delta type leg is 1) definition of workspace and payload based on tasks, such as walking and climbing a stair, 2) derivation of inverse kinematics and equation of motion, 3) optimization of a robot leg's mechanism, and finally 4) feasibility of the 3 DOF Parallel Delta type Leg (3PDL) for a quadruped robot compared with the 3 DOF Serial type Leg (3SL). In this paper, it is shown that the optimal 3PDL has a strong tendency of greatly reducing the maximum actuation torque and enhancing the manipulability in the certain workspace. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | The analysis of new 3 DOF parallel delta type leg for a quadruped robot to maximize actuation torque reduction | - |
dc.type | Conference | - |
dc.identifier.wosid | 000380476200168 | - |
dc.identifier.scopusid | 2-s2.0-8496451028 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 994 | - |
dc.citation.endingpage | 999 | - |
dc.citation.publicationname | IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 | - |
dc.identifier.conferencecountry | CC | - |
dc.identifier.conferencelocation | Zhuhai | - |
dc.identifier.doi | 10.1109/ROBIO.2015.7418901 | - |
dc.contributor.localauthor | Kim, Kyung-Soo | - |
dc.contributor.localauthor | Kim, Soohyun | - |
dc.contributor.nonIdAuthor | Kim, Jun Hyeok | - |
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