보행로봇의 운동학적 모델링 및 궤적 최적화

The research presents the robot which aims in walking as person. The human gait will be analyzed and what kind of biped robot will be stabilized naturally and will be able to apply. To connects the data which acquires from ZMP in gait, the front continuous pattern in order to guarantee a stability of walking robot that are considered a wheel track and combined the walking pattern of this robot.