DocumentCode
662791
Title
JINPOONG, posture control for the external force
Author
Jungsan Cho ; Jin Tak Kim ; Sangdeok Park ; Youngsoo Lee ; Kabil Kim
Author_Institution
KITECH(Korea Inst. of Ind. Technol.), Ansan, South Korea
fYear
2013
fDate
24-26 Oct. 2013
Firstpage
1
Lastpage
2
Abstract
The quadruped walking robot “JINPOONG” is developed to be able to walk in the field which is used to detection, surveillance, reconnaissance, security, and assistance. It can move, carry the luggage of 60kg or more and walk at the uneven terrain such as gravel road and slope of 15 degrees or more. To the legged robot walking stable, when an external force is applied to the body, the posture control is necessary to maintain stability. In this paper, we describe a method for the stabilization posture of JINPOONG and show experimental results about the external force.
Keywords
force control; legged locomotion; motion control; position control; stability; JINPOONG; external force; legged robot walking stability; posture control; quadruped walking robot; stabilization posture; Business; Foot; Force; Indexes; Legged locomotion; Hydraulic Robot; Posture control; Quadruped;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics (ISR), 2013 44th International Symposium on
Conference_Location
Seoul
Type
conf
DOI
10.1109/ISR.2013.6695687
Filename
6695687
Link To Document