Dynamic stability analyses based on ZMP of a wheel-based 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

	Dynamic stability analyses based on ZMP of a wheel-based humanoid robot
	Li YJ(李艳杰); Tan DL(谈大龙); Wu ZW(吴镇炜); Zhong H(钟华)
	2006
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期	December 17-20, 2006
会议地点	Kunming, China
关键词	humanoid robot dynamic stability ZMA
页码	1565-1570
通讯作者	李艳杰
中文摘要	For wheel-based humanoid robot, the dynamic stability is also an important question just like for biped robot. This paper unites the new Recursive Newton-Euler method for dynamic modeling and the ZMP concept and then obtains the ZMP model of the robot. The merit of this model is that it is a function of the position, velocity and acceleration of joints in joint space and easier to realize realtime control due to less calculation. Calculation and simulation show that the waist motion takes the main effect on the dynamic stability of the robot. Using the compensation of motion of the waist, the robot can realize dynamic motion. This paper also presents the concepts of the valid stable region and stable degree for the wheel-based robot.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录	2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-0570-1
WOS记录号	WOS:000245907302077
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8684]
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. Dynamic stability analyses based on ZMP of a wheel-based humanoid robot[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006.