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Trajectory Generation and Control for a Biped Robot Walking on Stairs : 두발 로봇의 계단보행 궤적 생성 및 제어
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- Authors
- Advisor
- 최종호
- Issue Date
- 2010
- Publisher
- 서울대학교 대학원
- Keywords
- 이족로봇 ; biped robot ; 두발로봇 ; walking motion ; 보행궤적생성 ; zero moment point (ZMP) ; 계단보행 ; stair walking ; 무모멘트점 (ZMP) ; ankle compliance control (ACC) ; 가상높이 역진자방법 (VHIPM) ; virtual height inverted pendulum mode (VHIPM). ; 발목순응제어 (ACC)
- Description
- Thesis(doctors) --서울대학교 대학원 :전기. 컴퓨터공학부,2010.2.
- Language
- English
- URI
- http://dcollection.snu.ac.kr:80/jsp/common/DcLoOrgPer.jsp?sItemId=000000032539
https://hdl.handle.net/10371/63985
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