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题名: Analysis of handclap motion of humanoid robot upper limbs and virtual prototype simulation
作者: Wang BR(王斌锐) ; Yan DM(严冬明) ; Jin YL(金英连)
作者部门: 机器人学研究室
会议名称: 2011 International Conference on Future Communication, Computing, Control and Management, ICF4C 2011
会议日期: December 16-17, 2011
会议地点: Phuket, Thailand
会议主办者: Intelligent Inf. Technol. Appl. Res. Assoc.; Hong Kong Education Society
会议录: Lecture Notes in Electrical Engineering
会议录出版者: Springer Verlag
会议录出版地: Heidelberg, Germany
出版日期: 2011
页码: 501-508
收录类别: EI
ISSN号: 1876-1100
ISBN号: 9783642273131
关键词: Anthropomorphic robots ; Communication ; Dynamic models ; Steering ; Stiffness
摘要: Collision 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.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10458
Appears in Collections:机器人学研究室_会议论文

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