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题名: Dynamic stability analyses based on ZMP of a wheel-based 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 International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期: December 17-20, 2006
会议地点: Kunming, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录: 2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 1565-1570
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0570-1
关键词: humanoid robot ; dynamic stability ; ZMA
摘要: For wheel-based humanoid robot, the dynamic stability is also an important question just like for biped robot. This paper unites the new Recursive Newton-Euler method for dynamic modeling and the ZMP concept and then obtains the ZMP model of the robot. The merit of this model is that it is a function of the position, velocity and acceleration of joints in joint space and easier to realize realtime control due to less calculation. Calculation and simulation show that the waist motion takes the main effect on the dynamic stability of the robot. Using the compensation of motion of the waist, the robot can realize dynamic motion. This paper also presents the concepts of the valid stable region and stable degree for the wheel-based robot.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8684
Appears in Collections:机器人学研究室_会议论文

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