Static force analysis for a mobile humanoid robot moving on a slope

Author

Wang, Jingguo ; Li, Yangmin

Author_Institution

Dept. of Electromech. Eng., Univ. of Macau, Macao

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

371

Lastpage

376

Abstract

The paper firstly presents a mobile humanoid robot whose upper human-like body is rigidly mounted on the mobile platform with three wheels: two driving wheels and one caster wheel. The wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Then the static equilibrium of the robot on a plane is discussed and tip-over stability of mobile humanoid robot moving on the slope is analyzed. In order to investigate the influence of exerting the force on the arm end-effector on the stability of the robot, the typical cases are studied carefully. Finally some simulations are carried out and the influence of different modes on the stability are analyzed by comparing different cases.

Keywords

force control; humanoid robots; mobile robots; stability; caster wheel; driving wheel; mobile humanoid robot; nonholonomic constraint; slope analysis; static equilibrium; static force analysis; tip-over stability; Arm; Biomimetics; Equations; Humanoid robots; Kinematics; Legged locomotion; Mobile robots; Stability analysis; Stability criteria; Wheels; Kinematics; Mobile Humanoid Robot; Moving on the slope; Static Equilibrium; Tip-over Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913032

Filename

4913032