저속 및 고속주행에서 안정영역을 갖는 3 Segment Leg 설계 연구
Design Study of 3 Segment Leg with Stable Region at low and high Speed Running
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In previous researches^([2,3]) , the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport^([1])is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we prove the self-stable region of the three segment leg designed by the proposed design direction.
Abstract
In previous researches^([2,3]) , the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport^([1])is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we prove the self-stable region of the three segment leg designed by the proposed design direction.
참고문헌 (7)
- S. Collins, "Efficient Bipedal Robots Based on Passive- Dynamic Walkers", Science, 307, pp.1082~ (2005)
- J. Rummel, "Stable Running with Segmented Legs", The International Journal of Robotics Research, 27(8), pp.919~934 (2008)
- J. Rummel, "Enlarging Regions of Stable Running with Segmented Legs", IEEE International Conference on Robotics and Automation, pp.3697~372 (2008)
- L. M. Day, "Interspecific scaling of the morphology and posture of the limbs during the locomotion of cats (Felidae)", The Journal of Experimental Biology, 210, pp.642~654 (2007)
- A. Seyfarth, "Stable operation of an elastic three-segment leg", Biological Cybernetics, 84(5), pp.365~382 (2001)
- R. Blickhan, "Intelligence by mechanics", Philosophical Transactions of the Royal Society A, 365(1850), pp.199~220 (2007)
- 권오석, "저속 및 고속주행에서 안정영역을 갖는 3 segment leg 설계연구", 한국정밀공학회 2010년도 추계학술대회논문집, pp.203~204 (2010)