Dynamic Modeling of a Mobile Humanoid Robot

被引：0
|
作者：
Wang, Jingguo [1 ]
Li, Yangmin [1 ]
机构：
[1] Univ Macau, Dept Electromech Engn, Taipa, Peoples R China
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 | 2009年
关键词：
Dynamics; Mobile Humanoid Robot; Nonholonomic Constraints; Screw Theory;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper first presents a modeling method for a mobile humanoid robot whose upper human-like body is mounted on a mobile platform supported by three wheels (two driving wheels and one caster wheel). The upper body connects the platform by two-DOF joint and the wheeled platform moves on the ground subject to nonholonomic constraints. Then based on Lie groups and screw theory, the kinematics and dynamics of the nonholonomic mobile humanoid robot are developed by simplifying the model into five parts and the dynamic equations of the entire system are formulated from the aspect of energy.
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页码：639 / 644
页数：6
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