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The development of a mobile humanoid robot with varying joint stiffness waist
Zhao TJ(赵铁军); Tan DL(谈大龙); Zhao MY(赵明扬)
作者部门机器人学研究室
会议名称IEEE International Conference on Mechatronics Automation
会议日期July 29 - August 1, 2005
会议地点Niagara Falls, Canada
会议主办者IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Univ Elect Sci & Technol China, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn
会议录名称2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings
出版者IEEE
出版地NEW YORK
2005
页码1402-1407
收录类别EI ; CPCI(ISTP)
EI收录号2005469480303
WOS记录号WOS:000238860802049
产权排序2
ISBN号0-7803-9044-X
关键词Humanoid Robot Stiffness Waist
摘要A mobile humanoid robot named YIREN has been developed as a platform for the research on intelligent robotics. The robot consists of 23 degrees of freedom (DOF), including the mobile platform, waist, torso, arms, neck and head, and it has two peculiarities: a waist mechanism that could adjust the mechanical compliance suitably and a mobile platform which is an omni-directional mobile robot with orthogonal-wheel assemblies. The design was mainly focused on two essential requirements of safety and mobility. This study aimed at realizing passive compliance of the mobile humanoid robot by its waist, and developing its autonomous navigation ability by its mobile platform. This paper presented a waist mechanism that could vary the joint stiffness. The influence of this waist on the compliant characteristics and the stability of the whole body were studied. The mobile humanoid robot that employs this waist is appropriate for the human-robot cooperative tasks, because it can realize safety motion by performing the waist and varying the joint stiffness while is operating.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20017
专题机器人学研究室
通讯作者Zhao TJ(赵铁军)
作者单位1.Shenyang University of Technology, 58, Xinghuanan st., Tiexi district, Shenyang, 110023, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
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Zhao TJ,Tan DL,Zhao MY. The development of a mobile humanoid robot with varying joint stiffness waist[C]//IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Univ Elect Sci & Technol China, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn. NEW YORK:IEEE,2005:1402-1407.
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