• DocumentCode
    3697545
  • Title

    FLoW bipedal robot: Hula hoop motion

  • Author

    Robyarta Haruli Ruci;Bayu Arengga Putra;Dadet Pramadihanto;Eko Henfri Binugroho;Raden Sanggar Dewanto

  • Author_Institution
    Departement of Information and Computer Engineering, Electronic Engineering Polytechnic Institute of Surabaya, Indonesia
  • fYear
    2015
  • Firstpage
    136
  • Lastpage
    141
  • Abstract
    In this paper, we described a model and a simulation of forward and inverse kinematics of a parallel link leg performing a predefined hula-hoop motion of FLoW, a bipedal humanoid robot. This lower body leg having 12 DOF links and joins configuration were described using D-H parameters. It was assumed that the motion is slow enough. Thus, by keeping the centre of mass projection to the floor to be always inside the support polygon of the robot the system can be regarded as stable.
  • Keywords
    "Kinematics","Legged locomotion","Foot","Mathematical model","Couplings","Actuators"
  • Publisher
    ieee
  • Conference_Titel
    Control, Electronics, Renewable Energy and Communications (ICCEREC), 2015 International Conference on
  • Type

    conf

  • DOI
    10.1109/ICCEREC.2015.7337032
  • Filename
    7337032
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3697545