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접촉력 추정 정확도 향상을 위한 보행로봇의 마찰 토크 추정
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 이종화 | - |
| dc.contributor.author | 강한구 | - |
| dc.contributor.author | 이지홍 | - |
| dc.contributor.author | 전봉환 | - |
| dc.date.accessioned | 2021-08-03T04:44:24Z | - |
| dc.date.available | 2021-08-03T04:44:24Z | - |
| dc.date.issued | 2015 | - |
| dc.identifier.issn | 1225-0767 | - |
| dc.identifier.issn | 2287-6715 | - |
| dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/797 | - |
| dc.description.abstract | This paper introduces a method to estimate the contact-force of the leg of a walking robot and proposes a solution to a shortcoming of the previous study. This shortcoming was the deteriorating performance when estimating the contact-force whenever the rotation of each joint was reversed. It occurred because the friction-torque of each joint was not considered. In order to solve this problem, a friction-torque model for a robot leg was developed based on repetitive experimentation and used to improve the contact-force estimation performance. We verified the performance of the proposed method experimentally. | - |
| dc.format.extent | 6 | - |
| dc.language | 한국어 | - |
| dc.language.iso | KOR | - |
| dc.publisher | 한국해양공학회 | - |
| dc.title | 접촉력 추정 정확도 향상을 위한 보행로봇의 마찰 토크 추정 | - |
| dc.title.alternative | Estimation of Friction-torque to Improve Accuracy of Estimated Contact-force for a Walking Robot | - |
| dc.type | Article | - |
| dc.publisher.location | 대한민국 | - |
| dc.identifier.bibliographicCitation | 한국해양공학회지, v.29, no.5, pp 398 - 403 | - |
| dc.citation.title | 한국해양공학회지 | - |
| dc.citation.volume | 29 | - |
| dc.citation.number | 5 | - |
| dc.citation.startPage | 398 | - |
| dc.citation.endPage | 403 | - |
| dc.identifier.kciid | ART002042645 | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | kci | - |
| dc.subject.keywordAuthor | Force estimation 힘 추정 | - |
| dc.subject.keywordAuthor | Friction-torque 마찰 토크 | - |
| dc.subject.keywordAuthor | Walking robot 보행로봇 | - |
| dc.subject.keywordAuthor | CRABSTER 크랩스터 | - |
| dc.subject.keywordAuthor | Manipulator 매니퓰레이터 | - |
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