다구치 방법론을 기반한 에너지 효율 고려 휴머노이드 고관절 오프셋 최적화

초록

This paper presents a Taguchi method optimizing hip joints in humanoid robots in terms of joint offsets. By using MuJoCo simulation, the effects of each offset condition were analyzed for the sum of the RMS power of three hip joints during target motion. The optimized model was compared to the initial model in terms of the RMS power of the sum of total hip joints to verify the improved energy efficiency.

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