고관절 구동 방식을 갖는 바퀴-다리형 로봇과 지면 간 접촉점에서의 마찰계수 추정
Estimation of the Frictional Coefficient of Contact Point between the Terrain and the Wheel-Legged Robot with Hip Joint Actuation
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This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.
Abstract
This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.
참고문헌 (14)
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