Design and inverse dynamic analysis of a humanoid robot

Author

Yanjie Li ; Dalong Tan ; Zhenwei Wu

Author_Institution

Robotics Lab., Chinese Acad. of Sci., Shenyang, China

Volume

2

fYear

2004

fDate

1-3 Dec. 2004

Firstpage

687

Abstract

In this paper we first present the mechanism system configuration, basic control structure of a humanoid robot constructed by our laboratory The human-sized robot has an all-orientation wheel mobile vehicle with 3-DOF, two 7-DOF arms, one 2-DOF neck and one 2-DOF waist (totally 21 DOF). As follow, we build the humanoid´s dynamic model based on the Newton-Euler method. Using the model, we simulate and analyse the dynamic characters of the humanoid. The simulation results are presented and the results will be the significant basic for the stability analysis and control of the humanoid in the future works. The humanoid is expected to be a common tested in experimental and discussion for various aspects of intelligent humanoid robotics.

Keywords

control system analysis; control system synthesis; humanoid robots; mobile robots; robot dynamics; stability; all-orientation wheel mobile vehicle; arms; humanoid robot design; intelligent humanoid robotics; inverse dynamic analysis; mechanism system configuration; neck; stability analysis; waist; Analytical models; Control systems; Humanoid robots; Intelligent robots; Laboratories; Manipulators; Mobile robots; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2004 IEEE Conference on

Print_ISBN

0-7803-8645-0

Type

conf

DOI

10.1109/RAMECH.2004.1438001

Filename

1438001