Analysis of Dynamic Stability Constraints for a Mobile Humanoid Robot

被引：6
作者：
Wang, Jingguo [1 ]
Li, Yangmin [1 ]
Qiu, Changwu [2 ]
机构：
[1] Univ Macau, Dept Electromech Engn, Taipa, Peoples R China
[2] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai, Peoples R China
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 | 2009年
关键词：
Mobile Humanoid Robot; Dynamics; Stability; Tip-over Preventing Constraints; Inverse Kinematics; MANIPULATOR;
D O I：
10.1109/IASP.2009.5054621
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper firstly presents a method to formulate the dynamics of the mobile humanoid robot which is composed by the mobile platform and the upper body. As tip-over is an important stable issue for the mobile robot, the dynamic stability constraint is carefully studied to keep the robot stable. Stable support for the robot moving on a plane is solved. With the consideration of the stability problem during the solution of inverse kinematics, the tip-over preventing constraint is applied to get the optimized solution. Finally computer simulations are carried out with and without the consideration of tip-over preventing constraints respectively.
引用
收藏
页码：377 / +
页数：2
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