한국해양대학교

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센서를 활용한 이족보행로봇의 구동

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dc.contributor.author 金永植[] -
dc.date.accessioned 2017-02-22T06:24:07Z -
dc.date.available 2017-02-22T06:24:07Z -
dc.date.issued 2002 -
dc.date.submitted 56797-10-27 -
dc.identifier.uri http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002173911 ko_KR
dc.identifier.uri http://repository.kmou.ac.kr/handle/2014.oak/9473 -
dc.description.abstract This thesis obtains the information of the walking of the pattern developed biped robot in our laboratory, and shows autonomous walking of the robot sensors. For a walking motion of the biped walking robot, human's walking data are obtained by using the motion capture system to apply man's walking pattern and then robot's walking motion is analyzed with the obtained data by utilizing the computer simulation. It which was the control system for control experiment of the walking robot was made, and robot which has motion capture simulation data tests out robot's walking to remote control. These systems for walking simulation and autonomous walking utilize an ultrasonic sensor and a gyro sensor. The ultrasonic sensor perceives the distance of obstacles in real time is programmed to avoid obstacles. The gyro sensor the incline angle information of the walking robot to balance it's posture. Ultrasonic waves and the gyro sensor controller are developed for remote walking of the biped walking robot obtained data. Though this experiment of biped walking robot, that operates from the command. Those which were Data-Base of self-control walking, remote control and simulation were secured by this thesis. -
dc.description.tableofcontents 목차 Abstract 기호설명 그림목차 제1장 서론 = 1 제2장 이족보행로봇의 기구 메커니즘 = 3 2.1. 사절 링크와 볼나사 구동기 = 3 2.2. 발목관절 = 5 2.3. 무릎관절 = 7 2.4. 골반관절 = 8 제3장 이족보행로봇의 구동 = 11 3.1 모션 캡쳐 시스템의 종류 = 11 3.1.1. 기계적 방식 = 12 3.1.2. 광학식 = 12 3.1.3. 자기방식 = 13 3.2. 모션 캡쳐 시스템의 구성 및 시뮬레이션 = 13 3.3. 이족보행로봇의 시스템 구성 = 16 3.3.1. Mobile Computer = 19 3.3.2. 모터 구동 보드(MMC-PV8) = 21 3.3.3. 모터 인터페이스 = 23 제4장 이족보행로봇 센서 = 25 4.1. 구동용 센서 = 25 4.1.1. 초음파 센서 = 25 4.1.2. 자이로 센서 = 28 4.1.3. 포텐셔미터 = 31 4.2. 센서 신호 시스템 = 32 제5장 이족보행로봇의 보행을 위한 제어와 센서를 활용한 로봇의 구동실험 = 34 5.1. 실험 장치 구성 = 34 5.2. 실험 및 고찰 = 41 제6장 결론 = 47 참고문헌 = 49 -
dc.publisher 韓國海洋大學校 大學院 -
dc.title 센서를 활용한 이족보행로봇의 구동 -
dc.type Thesis -
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기계공학과 > Thesis
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