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题名: Rolling Motion Generation of Multi-Points Contact for a Humanoid Robot
作者: Yu DC(于大程); Yu ZG(余张国); Fang X(方玺); Lei, Siyu; Chen XC(陈学超); Huang Q(黄强); Meng, Libo; Zhou QQ(周钦钦); Zhang WM(张伟民); Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 2016 International Conference on Advanced Robotics and Mechatronics (ICARM)
会议日期: Augest 18-20, 2016
会议地点: Macau, PEOPLES R CHINA
会议主办者: S China Univ Technol, Univ Macau, EEE Syst Man & Cybernet Soc, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, IEEE SMCA Tech Comm Computat Psychophysiol, IEEE SMCA Tech Comm Bio Mechatron & Bio Robot Syst, IFAC Tech Comm Econ Business & Financial Syst
会议录: IEEE ICARM 2016 - 2016 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM)
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2016
页码: 153-158
收录类别: CPCI(ISTP)
ISBN号: 978-1-5090-3364-5
摘要: The posture of a humanoid robot needs to be changed from lying state to others in order to complete required missions. With the rolling motion, it is possible for a humanoid robot to change lying state and adapt itself to the environmental uncertainties. The study of rolling motion for humanoid robots is fairly rare. This paper proposed a highly dynamic whole-body rolling motion. The planned rolling motion trajectories were based on the motion of human rolling, and meet the constraints of dynamic stability and multi-points contact conditions. The trajectory of the center of mass (CoM) and environmental constraints were calculated by dividing whole-body motion into upper and lower body movement. The effectiveness of proposed method was confirmed by dynamic simulation on a virtual humanoid robot.
语种: 英语
产权排序: 1
WOS记录号: WOS:000386653600027
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19410
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Yu DC,Yu ZG,Fang X,et al. Rolling Motion Generation of Multi-Points Contact for a Humanoid Robot[C]. 见:2016 International Conference on Advanced Robotics and Mechatronics (ICARM). Macau, PEOPLES R CHINA. Augest 18-20, 2016.
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文件名: Rolling Motion Generation of Multi-Points Contact for a Humanoid Robot.pdf
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