شماره ركورد كنفرانس :
3222
عنوان مقاله :
Dynamic Analysis and Path Planning for a Redundant Actuated Biped Robot
پديدآورندگان :
Karimi Amirhossein Department of Mechanical Engineering - Isfahan University of Technology , Danesh Mohammad Department of Mechanical Engineering - Isfahan University of Technology , Tabibian Ashkan Department of Mechanical Engineering - Isfahan University of Technology , Nouri Ali Department of Mechanical Engineering - Isfahan University of Technology
كليدواژه :
Parallel design , biped robots , stability , redundant actuation , path planning
عنوان كنفرانس :
دومين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
In some applications, biped robots are preferred to wheeled robots since biped robots are
able to move in various environments with different conditions. However, stable walking for biped robots
is a challenging issue. Various approaches have been developed to improve these robots performance. In
this paper, we first introduce a different mechanical design of biped robots based on parallel mechanism
and then compare it with conventional design of robots. Then we formulate dynamic equations of this
biped robot and generate some trajectories for the joints. Finally, the proposed design is validated by
experimental results.
