DocumentCode
1843050
Title
Study on mechanics laws for anthropomorphic biped robots to walk dynamically on sloping surface
Author
Tan, G.-Z.
Author_Institution
Inst. of Robotics, Central South Univ. of Technol., Changsha, China
Volume
1
fYear
1996
fDate
22-28 Apr 1996
Firstpage
252
Abstract
This paper mainly deals with the mechanics problem for a kind of anthropomorphic biped robots to walk dynamically on sloping surface. Through analysing the mechanics system of this kind of robots in detail, the motion constraint equations are established, three mechanics laws describing the relationships among the external forces are obtained, the method of determining these external forces and the corresponding computation formulas are given, and an approach to determining the action point of slope friction is proposed for rigid feet
Keywords
legged locomotion; mobile robots; robot dynamics; anthropomorphic biped robots; dynamic walking; mechanical laws; motion constraint equations; slope friction action point determination; sloping surface; Anthropomorphism; Educational institutions; Equations; Friction; Leg; Legged locomotion; Manipulators; Motion analysis; Robots; Torso;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.503786
Filename
503786
Link To Document