해저 다관절 로봇의 점프 동작 구현을 위한 해저 지면반발력 계산

Abstract

In this paper, when the jump motion for a simulation of the improved underwater articulated robot will be described for the calculation of the reaction force. For a variety of activities in the underwater environment was the transition strategy adopted by jumping motion of the articulated robot to perform both swimming and walking. By calculating the floor reaction forces in the underwater environment to overcome the limitation of the simulation in the previous studies to increase the reliability of the simulation verifies the jump motion of the articulated robot is the ocean floor.