4족과 6족 보행을 하는 수면 주행 로봇의 안정성 실험 연구

Title
4족과 6족 보행을 하는 수면 주행 로봇의 안정성 실험 연구
Other Titles
Experimental Study on Rolling Stability of Quadruped and Hexapedal Water Running Robots
Author(s)
서태원김현규김정현서병훈
Keywords
Water running robot (수면보행로봇); Bio-inspired robot (자연모사로봇); Quadruped robot (4 족 로봇); Hexapedal robot (6 족 로봇); Experimental study (실험 연구)
Issue Date
201310
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.30, no.10, pp.1023 - 1029
Abstract
Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.
URI
http://hdl.handle.net/YU.REPOSITORY/28750
ISSN
1225-9071
Appears in Collections:
공과대학 > 기계공학부 > Articles
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