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Control and Simulation on the Waist Mechanism of a Humanoid Robot Based on Dynamic Model
Li YJ(李艳杰); Wu ZW(吴镇炜); Zhong H(钟华)
Conference Name20th Chinese Control and Decision Conference
Conference DateJuly 2-4, 2008
Conference PlaceYantai, China
Publication PlaceNEW YORK
Indexed ByEI ; CPCI(ISTP)
EI Accession number20084011609929
WOS IDWOS:000260562700262
Contribution Rank2
KeywordHumanoid Robot Dynamic Model Waist Mechanism Simulation
AbstractThe wheel-based humanoid robots with waist mechanism have large workspace and high agility. The humanoid robot in this paper has a waist mechanism with two parallel driving motors. The waist mechanism connects the vehicle with the hunk of the humanoid robot. The dynamic characteristic of the waist mechanism is affected by the dynamic characteristic of arms and vehicle and the external forces or torques, as well as by the motion of its own. This paper firstly built the whole dynamic model of the humanoid robot using the effective Newton-Buler Algorithm and then built the dynamic model of the waist mechanism through simplifying the whole dynamic model without consideration of coupling motion of the joints. The simplified dynamic model expresses the dynamic relation among the vehicle, waist and arms of the humanoid robot, minimizes the calculation and is convenient for realizing the control algorithm based on the dynamic model. This paper presented the PD control and the calculated torques method for compensating the torque disturb as the control strategy of the waist mechanism based on its dynamic model. The simulation shows the control algorithm remarkably improves tie position tracing precision of the waist mechanism and improves the work precision of the humanoid robot.
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Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Corresponding AuthorLi YJ(李艳杰)
Affiliation1.School of Mechanical Engineering, Shenyang Ligong University, Shenyang 110168, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110006, China
Recommended Citation
GB/T 7714
Li YJ,Wu ZW,Zhong H. Control and Simulation on the Waist Mechanism of a Humanoid Robot Based on Dynamic Model[C]. NEW YORK:IEEE,2008:1285-1289.
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