SIA OpenIR  > 机器人学研究室
Rolling Motion Generation of Multi-Points Contact for a Humanoid Robot
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
会议录名称IEEE ICARM 2016 - 2016 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM)
出版者IEEE
出版地NEW YORK
2016
页码153-158
收录类别EI ; CPCI(ISTP)
EI收录号20164903085015
WOS记录号WOS:000386653600027
产权排序1
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
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19410
专题机器人学研究室
通讯作者Yu DC(于大程)
作者单位1.School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Yu DC,Yu ZG,Fang X,et al. Rolling Motion Generation of Multi-Points Contact for a Humanoid Robot[C]//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. NEW YORK:IEEE,2016:153-158.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Rolling Motion Gener(920KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Yu DC(于大程)]的文章
[Yu ZG(余张国)]的文章
[Fang X(方玺)]的文章
百度学术
百度学术中相似的文章
[Yu DC(于大程)]的文章
[Yu ZG(余张国)]的文章
[Fang X(方玺)]的文章
必应学术
必应学术中相似的文章
[Yu DC(于大程)]的文章
[Yu ZG(余张国)]的文章
[Fang X(方玺)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Rolling Motion Generation of Multi-Points Contact for a Humanoid Robot.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。