Design and inverse dynamic analysis of a humanoid robot | |
Li YJ(李艳杰); Tan DL(谈大龙); Wu ZW(吴镇炜)![]() ![]() | |
2004 | |
会议名称 | IEEE Conference on Robotics, Automation and Mechatronics |
会议日期 | December 1-3, 2004 |
会议地点 | Singapore, SINGAPORE |
关键词 | humanoid robot dynamics Newton-Euler |
页码 | 687-692 |
中文摘要 | In this paper we first present the mechanism system configuration, basic control structure of a humanoid robot constructed by our laboratory The human-sized robot has an all-orientation wheel mobile vehicle with 3-DOF, two 7-DOF arms, one 2-DOF neck and one 2DOF waist (totally 21 DOF). As follow, we build the humanoid's dynamic model based on the Newton-Euler method. Using the model, we simulate and analyse the dynamic characters of the humanoid. The simulation results are presented and the results will be the significant basic for the stability analysis and control of the humanoid in the future works. The humanoid is expected to be a common tested in experimental and discussion for various aspects of intelligent humanoid robotics. |
收录类别 | EI ; CPCI(ISTP) |
产权排序 | 1 |
会议录 | 2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2
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会议录出版者 | IEEE |
会议录出版地 | NEW YORK |
语种 | 英语 |
ISBN号 | 0-7803-8645-0 |
WOS记录号 | WOS:000227005400121 |
内容类型 | 会议论文 |
源URL | [http://ir.sia.cn/handle/173321/8636] ![]() |
专题 | 沈阳自动化研究所_机器人学研究室 |
推荐引用方式 GB/T 7714 | Li YJ,Tan DL,Wu ZW,et al. Design and inverse dynamic analysis of a humanoid robot[C]. 见:IEEE Conference on Robotics, Automation and Mechatronics. Singapore, SINGAPORE. December 1-3, 2004. |
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