Title :
Analysis of the state transition for a humanoid robot SJTU-HR1 from sitting to standing
Author :
Qi, Kaicheng ; Gao, Feng ; Liu, Wei ; Yang, Jialun
Author_Institution :
Sch. of Mech. Eng. & Autom., Beihang Univ., Beijing, China
Abstract :
Rising up to a standing state from a sitting state is one of the most important human activities of daily life. It is of equal importance for the humanoid robot. This paper presents the concept of humanoid robot SJTU-HR1, researches on the characteristics of sitting and standing states using the generalized function (GF) set, and gets the interested end-effectors (EEs). Then the work focuses on the analysis of the transition from sitting to standing state. Moreover, we abstract some paths according to contact points to decrease the applied force. Finally, we select a path from sitting to standing up, analyze its kinematics characteristics of the EEs, and establish a simulation to this process to testify the merits of the optimal paths selected.
Keywords :
end effectors; humanoid robots; manipulator kinematics; set theory; end effectors; generalized function set; humanoid robot SJTU-HR1; kinematics characteristics; state transition analysis; Hip; Humanoid robots; Humans; Kinematics; Laboratories; Mechanical engineering; Mechatronics; Motion planning; Robotics and automation; Set theory; GF set; SJTU-HR1; state; state transition;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246530