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Analysis of handclap motion of humanoid robot upper limbs and virtual prototype simulation
Wang BR(王斌锐); Yan DM(严冬明); Jin YL(金英连)
Department机器人学研究室
Conference Name2011 International Conference on Future Communication, Computing, Control and Management, ICF4C 2011
Conference DateDecember 16-17, 2011
Conference PlacePhuket, Thailand
Author of SourceIntelligent Inf. Technol. Appl. Res. Assoc.; Hong Kong Education Society
Source PublicationLecture Notes in Electrical Engineering
PublisherSpringer Verlag
Publication PlaceHeidelberg, Germany
2011
Pages501-508
Indexed ByEI
EI Accession number20120814781100
Contribution Rank1
ISSN1876-1100
ISBN978-3-642-27313-1
KeywordAnthropomorphic Robots Communication Dynamic Models Steering Stiffness
AbstractCollision safety has been one of the most important issues for humanoid robots study. In this paper, humanoid robot upper limbs were established with 5 degrees of freedom. Based on Jacobin matrix and Lagrange function, the kinematics and dynamics models were established respectively. The collision dynamic model was established by using the nonlinear equivalent spring damping model. During the process of clapping, the laws of each joint movement range, velocity, and torque are given then, and phase relationship of peak value of velocity and torque successively are given too. Various different stiffness experiments are carried out during simulations. Experimental curves show that the angular velocity curves is approximate to the sine curve shape. During collision, the maximal impact influence is on elbow joints. After buffering, wrist joint is influenced higher than elbow joint. Results confirm the simulation platform is efficient and a small calculation step should be adopted. © 2012 Springer-Verlag GmbH.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10458
Collection机器人学研究室
Affiliation1.School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou Zhejiang 310018, China
2.State Key Laboratory of Robotics, Shenyang Liaoning 110016, China
Recommended Citation
GB/T 7714
Wang BR,Yan DM,Jin YL. Analysis of handclap motion of humanoid robot upper limbs and virtual prototype simulation[C]//Intelligent Inf. Technol. Appl. Res. Assoc.; Hong Kong Education Society. Heidelberg, Germany:Springer Verlag,2011:501-508.
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