Design and inverse dynamic analysis of a humanoid robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Design and inverse dynamic analysis of a humanoid robot
	Li YJ(李艳杰); Tan DL(谈大龙); Wu ZW(吴镇炜); Zhong H(钟华)
	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
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.