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

页码：377 / +

页数：2

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