Analysis of dynamic stability constraints for a mobile humanoid robot

Author

Wang, Jingguo ; Li, Yangmin ; Qiu, Changwu

Author_Institution

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

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

377

Lastpage

382

Abstract

This paper firstly presents a method to formulate the dynamics of the mobile humanoid robot which is composed by the mobile platform and the upper body. As tip-over is an important stable issue for the mobile robot, the dynamic stability constraint is carefully studied to keep the robot stable. Stable support for the robot moving on a plane is solved. With the consideration of the stability problem during the solution of inverse kinematics, the tip-over preventing constraint is applied to get the optimized solution. Finally computer simulations are carried out with and without the consideration of tip-over preventing constraints respectively.

Keywords

humanoid robots; mobile robots; robot dynamics; robot kinematics; stability; computer simulation; dynamic stability constraint; inverse kinematics; mobile humanoid robot; tip-over preventing constraint; Force measurement; Humanoid robots; Kinematics; Manipulator dynamics; Mobile robots; Motion control; Stability analysis; Stability criteria; Vehicle dynamics; Vehicles; Dynamics; Inverse Kinematics; Mobile Humanoid Robot; Stability; Tip-over Preventing Constraints;

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.2009.4913033

Filename

4913033