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题名: Design and inverse dynamic analysis of a humanoid robot
作者: Li YJ(李艳杰) ; Tan DL(谈大龙) ; Wu ZW(吴镇炜) ; Zhong H(钟华)
作者部门: 机器人学研究室
会议名称: IEEE Conference on Robotics, Automation and Mechatronics
会议日期: December 1-3, 2004
会议地点: Singapore, SINGAPORE
会议录: 2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2004
页码: 687-692
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-8645-0
关键词: humanoid robot ; dynamics ; Newton-Euler
摘要: In this paper we first present the mechanism system configuration, basic control structure of a humanoid robot constructed by our laboratory The human-sized robot has an all-orientation wheel mobile vehicle with 3-DOF, two 7-DOF arms, one 2-DOF neck and one 2DOF waist (totally 21 DOF). As follow, we build the humanoid's dynamic model based on the Newton-Euler method. Using the model, we simulate and analyse the dynamic characters of the humanoid. The simulation results are presented and the results will be the significant basic for the stability analysis and control of the humanoid in the future works. The humanoid is expected to be a common tested in experimental and discussion for various aspects of intelligent humanoid robotics.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8636
Appears in Collections:机器人学研究室_会议论文

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