Title :
Modeling and evaluation of the joint mechanical flexibility of a humanoid robot
Author :
Huang, Qiang ; Zhang, Di ; Dong, Yongjin ; Zhao, Xiaojun ; Yang, Jie
Author_Institution :
Dept. of Mechatronic Eng., Beijing Inst. of Technol., China
Abstract :
The joint mechanical flexibility has great influence upon the reliability of humanoid walking. This issue has rarely been studied in previous investigations. In this paper, the concept of the joint mechanical flexibility is presented and the model of the harmonic drive flexibility is established. Finally, the effectiveness of the model is illustrated by the dynamic simulation and actual humanoid experiments.
Keywords :
mobile robots; reliability theory; robot dynamics; dynamic simulation; harmonic drive flexibility; humanoid robot; humanoid walking; joint mechanical flexibility; reliability; Actuators; Drives; Elasticity; Force control; Force sensors; Gears; Harmonic analysis; Humanoid robots; Humans; Legged locomotion;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1342384
