S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Theses (Master's Degree_기계항공공학부)
Leg Propulsion Mechanism Design of a Lizard Inspired Robot
도마뱀을 모사하는 소형고속주행 로봇의 추력발생 기구부의 설계
- 공과대학 기계항공공학부
- Issue Date
- 서울대학교 대학원
- 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2015. 2. 김종원.
- Based on a previous research that verified the effects of lateral undulation of a bipedal running lizard, Callisaurus Draconoides, a novel robotic system was proposed. For this novel robotic system, the leg mechanism that resembles the running characteristics of the real lizard is the most important component in successfully developing the robot. This study focused on the synthesis of a leg propulsion mechanism of a lizard inspired robot. As a first step, data from a running lizard was acquired by a motion captured video. The four bar mechanism was utilized in mimicking the trajectory of the feet of the lizard, and optimization scheme was applied to determine the optimal lengths of the links of the proposed mechanism. Finally, running experiment was carried out with the designed leg mechanism on a treadmill, concluded with a performance analysis