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Chapter 1 ¹ÙÀÌ¿À·Îº¿/11
1.1 °³·Ð/13
1.2 ÀåÁ¡/16
1.3 »ýü¸ð¹æ/19
1.4 »ý¹°Çаú °øÇÐÀÇ °ü°è/23
1.5 °á·Ð/28
Chapter 2 °³¹ßÇöȲ/33
2.1 °³¹ß¿ª»ç/35
2.2 »ýü¸ð¹æÀÇ Àû¿ë/49
2.2.1 Insect Leg Model/50
2.2.2 Cyborg Cockroach/51
2.2.3 Ant/52
2.2.4 Gecko Lizard/53
2.2.5 StMA/56
2.3 6-Á· º¸Çà·Îº¿ÀÇ ÃÖ±Ù °³¹ßÇöȲ/57
2.4 4-Á· º¸Çà·Îº¿ÀÇ ÃÖ±Ù °³¹ßÇöȲ/58
2.5 ¹ÙÀÌ¿À·Îº¿ÀÇ ¹Ì·¡/69
2.6 °á·Ð/71
Chapter 3 ôÃßµ¿¹°/77
3.1 °³·Ð/78
3.2 Ư¡/85
3.3 ±¸¼º/91
3.3.1 ±ÙÀ°/91
3.3.2 »À/95
3.3.3 °üÀý/100
3.4 ôÃßµ¿¹°ÀÇ º¸Çà/103
3.4.1 ¿¬±¸¹æ½Ä/105
3.4.2 °ÉÀ½»õ Ç¥½Ã¹æ¹ý/110
3.4.3 ôÃßµ¿¹°ÀÇ °ÉÀ½»õ/113
3.4.4 ôÃßµ¿¹°ÀÇ °ÉÀ½»õÀÇ ¿¹/118
3.5 Animal Modeling/142
3.5.1 Modeling/143
3.6 °á·Ð/155
Chapter 4 Insects Modeling/161
4.1 °³·Ð/162
4.2 Ư¡/165
4.3 ±¸¼º/170
4.3.1 Body Structure/171
4.3.2 Leg Sensor/176
4.3.3 Leg Structure/180
4.3.4 Leg Function/183
4.4 Insect Model/185
4.4.1 Stick Insect/186
4.4.2 Cockroach/194
4.4.3 Caterpillar/201
4.4.4 Centipede/205
4.5 Jumping/212
4.5.1 SDM of LIS/ 213
4.6 Flying/214
4.6.1 Insect/215
4.6.2 Moth/218
4.6.3 Butterfly/219
4.6.4 Avian Bipedal Locomotion/222
4.7 °á·Ð/223
Chapter 5 º¸Çà·Îº¿ÀÇ ¿îµ¿ÇÐ/227
5.1 ¿îµ¿ÇÐ(Kinematics)/228
5.1.1 °ü¼ºÁÂÇ¥°è/228
5.1.2 Á÷¼±¿îµ¿À» ÇÏ´Â ÁÂÇ¥°è/230
5.1.3 Á¢¼±°ú ¹ý¼±ÁÂÇ¥°è/231
5.1.4 ±ØÁÂÇ¥°è/233
5.1.5 Á÷¼±°ú ȸÀü¿îµ¿À» ÇÏ´Â ÁÂÇ¥°è/235
5.2 ÁÂÇ¥ÀÇ º¯È¯/237
5.2.1 ¿øÁ¡ÀÌ °°Àº µÎ ÁÂÇ¥°èÀÇ °ü°è/238
5.2.2 ¿øÁ¡ÀÌ °°Àº ¼¼ ÁÂÇ¥°èÀÇ °ü°è/242
5.2.3 ÁÂÇ¥º¯È¯ÀÇ ¿¹/245
5.3 Á¤¿îµ¿ÇÐ(Forward Kinematics)/250
5.3.1 ÀϹÝÀû ÁÂÇ¥ÀÇ º¯È¯/251
5.3.2 Denavit-Hartenberg(D-H) ÁÂÇ¥ÀÇ º¯È¯/ 257
5.3.3 ±âŸ ÁÂÇ¥ÀÇ º¯È¯/261
5.3.4 D-H ¹æ½ÄÀÇ Àû¿ë ¿¹(1)/263
5.3.5 D-H ¹æ½ÄÀÇ Àû¿ë ¿¹(2)/272
5.3.6 D-H ¹æ½ÄÀÇ Àû¿ë ¿¹(3)/ 278
5.3.7 Schilling Method for Alpha II/285
5.3.8 Schilling Method of SCARA Robot(2)/ 291
5.4 ¿ª¿îµ¿ÇÐ(Inverse Kinematics)/296
5.4.1 Microbot/ 297
5.4.2 Planar Robot/306
5.4.3 PUMA560/316
5.4.4 Scara Robot/328
5.5 °á·Ð/330
Chapter 6 ·Îº¿ÀÇ µ¿¿ªÇÐ/331
6.1 °³·Ð/332
6.2 Iterative Newton-Euler Method/335
6.3 ¸ðµ¨¿¡ Àû¿ë ¿¹/340
6.4 D¡¯Alembert ¿ø¸®ÀÇ Àû¿ë/343
6.5 Lagrangian Dynamics/347
6.6 °á·Ð/356
Chapter 7 Simulation/359
7.1 °³·Ð/360
7.2 º¸Çà·Îº¿ÀÇ ¸ðµ¨¸µ/360
7.3 º¸Çà·Îº¿ÀÇ ±â°èÀû È¿À²/366
7.4 º¸Çà Áß ´Ù¸®ÀÇ À§Ä¡/367
7.5 ¹ß ³¡Á¡ÀÇ ±ËÀû/370
7.6 Computer Simulation Work/377
7.7 Simulation Results/422
7.7.1 Reaction Force/422
7.7.2 Direction Angle/423
7.7.3 Front Forward Stroke Distance/425
7.7.4 Front Rear Stroke Distance/426
7.7.5 Rear Forward Stroke Distance/427
7.7.6 Rear Backward Stroke Distance/427
7.8 °á·Ð/428
Chapter 8 Motion Kinematics/431
8.1 °³·Ð/432
8.2 Three-Dimensional Case/442
8.3 °á·Ð/457 |
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