Effect and motion planning of waist for humanoid robot dynamatic stability

Author

Tiejun, Zhao

Author_Institution

Sch. of Mech. Eng., Shenyang Univ. of Technol., Shenyang, China

fYear

2010

fDate

26-28 June 2010

Firstpage

6146

Lastpage

6149

Abstract

Dynamically stable motion and safety of humanoid robots is must achieved because they are expacted to cooperate and interact with human beings. The synthesis of mechanism of the waist is described and a new waist configuration with parallel driving motor is developed. The center of gravity position kinematics model is built to obtain its change situation. Because the dynamatic behavior of manipulator and waist has an effect on the stability of humanoid robots, the dynamatic model is built. By using the zero moment point, dynamic effect of the waist is obtained and the correctness of analysis is verified by experiments.

Keywords

humanoid robots; manipulator dynamics; motor drives; path planning; stability; dynamatic stability; humanoid robot; manipulator behavior; motion planning; parallel driving motor; waist behavior; zero moment point; Gravity; Humanoid robots; Humans; Kinematics; Manipulators; Mechanical engineering; Motion planning; Safety; Stability; Technology planning; dynamatic; motion planning; stability; waist;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-7737-1

Type

conf

DOI

10.1109/MACE.2010.5536564

Filename

5536564