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Youm, Young Il
School of Mechanical and Nuclear Engineering
Research Interests
  • The robot hands and arm

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로봇발전과 기구학의 역할

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Title
로봇발전과 기구학의 역할
Other Titles
The role of kinematics in robot development
Author
Youm, Young Il
Keywords
Biomechanics; Bipedal robot; Human gait; Kinematic notations; Kinematics; Passive walking; Robot; Spherical motor
Issue Date
2014
Publisher
제어로봇시스템학회
Citation
제어로봇시스템학회논문지, v.20, no.3, pp.333 - 344
Abstract
This is the survey paper on the role of kinematics in robot development. The robot is considered as a form of mechanical systems which includes closed-chain loop system, open-chain loop system and closed and open switching system. To analyze these systems, kinematic notations has been developed in kinematics of mechanical theory since 1955 and has been applied in robotics. Several kinematic notations including Denavit-Hartenberg notations have been reviewed. The status of development of the spherical motor which has a great impact on the future robot advancement has reviewed, and research activity on a spherical motor and its application to 3-D spatial mechanisms at UNIST is introduced. For the open and closed switching mechanical systems, the bipedal robots' walking theories using Zero Moment Point are reviewed. And current status regarding bipedal robots based on newly developed passive dynamic walking theory is reviewed with the research activity at UNIST on this subject.
URI
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DOI
http://dx.doi.org/10.5302/J.ICROS.2014.14.9020
ISSN
1976-5622
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