Three-dimensional modelling of a humanoid in three planes and a motion scheme of biped turning in standing

被引：13
作者：
Kim, E. [1 ]
Kim, T. [1 ]
Kim, J. -W. [1 ]
机构：
[1] Dong A Univ, Dept Elect Engn, Pusan 604714, South Korea
来源：
IET CONTROL THEORY AND APPLICATIONS | 2009年 / 3卷 / 09期
关键词：
D O I：
10.1049/iet-cta.2008.0305
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The rigorous three-dimensional model of a humanoid is essential for biped walking, turning, carrying and the like. This study presents a new three-dimensional model of a humanoid by adding two joints in the transverse plane for enabling the motion of turning. Using this model, the authors propose a motion scheme for turning the forward direction of a humanoid in standing. In the present work, every component motion carried out per plane is separately illustrated with figures and explanations. Then, a right-hand turning of a humanoid in standing is simulated and implemented with a small humanoid robot for validation. The present work will serve as a foundation for joint trajectory generation about complex three-dimensional motions of a humanoid robot.
引用
收藏
页码：1155 / 1166
页数：12
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