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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)
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
会议录名称Lecture Notes in Electrical Engineering
出版者Springer Verlag
出版地Heidelberg, Germany
2011
页码501-508
收录类别EI
EI收录号20120814781100
产权排序1
ISSN号1876-1100
ISBN号978-3-642-27313-1
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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10458
专题机器人学研究室
作者单位1.School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou Zhejiang 310018, China
2.State Key Laboratory of Robotics, Shenyang Liaoning 110016, China
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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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