Title :
Model validation of a Humanoid robot via standard Scenarios
Author :
Aloulou, Amira ; Boubaker, Olfa
Author_Institution :
Centre Urbain Nord, Nat. Inst. of Appl. Sci. & Technol., Tunis, Tunisia
Abstract :
This paper presents a validation of a kinematic model of a Humanoid robot via standard Scenarios. The humanoid robot considered is composed of fifteen links associated to twenty-six degrees of freedom. Its 3D anthropomorphic model is derived from Winter´s statistical method. Due to the model nonlinearity, initial conditions are carefully tuned and the kinematic model is validated through standard scenarios.
Keywords :
humanoid robots; robot kinematics; statistical analysis; 3D anthropomorphic model; humanoid robot; kinematic model; statistical method; Computers; Humanoid robots; Joints; Kinematics; Robot sensing systems; Standards;
Conference_Titel :
Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2013 14th International Conference on
Conference_Location :
Sousse
Print_ISBN :
978-1-4799-2953-5
DOI :
10.1109/STA.2013.6783145
