CAJ | 학술논문

对两足溜冰机器人的地面反作用力进行了分析与计算，提出了应用凸优化方法进行地面反作用力的建模方法。在合理假设的基础上，将地面反作用力建模问题转换为在一定约束条件下使碰撞后的溜冰机器人动能达到最小的问题，并转化为凸优化的标准形式。应用凸优化程序CVX进行了地面反作用力的计算与仿真，结果证明了该方法的有效性。
대량족류빙궤기인적지면반작용력진행료분석여계산，제출료응용철우화방법진행지면반작용력적건모방법。재합리가설적기출상，장지면반작용력건모문제전환위재일정약속조건하사팽당후적류빙궤기인동능체도최소적문제，병전화위철우화적표준형식。응용철우화정서CVX진행료지면반작용력적계산여방진，결과증명료해방법적유효성。
The ground reaction force for a biped skating robot was calculated and analyzed,and a modeling method for the ground reaction force by using convex optimization was proposed. On the basis of reasonable assumption,the modeling of ground reaction force was transformed as a minimization problem of robot kinetic energy after collision under condition with certain constrains,and as a stand-ard convex optimization form. By using CVX software of convex optimization to calculate and simulate the ground reaction force,the re-sults prove the effectiveness of the method.