Dynamic workspace analysis and motion planning for a micro biped walking robot

被引：0
|
作者：
Yue, M [1 ]
Xi, N [1 ]
Minor, M [1 ]
Mukherjee, R [1 ]
机构：
[1] Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USA
来源：
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS | 2000年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The dynamic workspace and the motion plans for a micro biped walking robot are studied in this paper. The dynamic model and controller of under-actuated walking robot system are developed. Two optimal navigation algorithms for the motion of the robot in the same plane without obstacles are developed, and optimality is proved. The motion of the robot is divided into normal motion status and transition status. The complete scheme to perform the two status and this real time implementation are presented. The dynamic simulation results and 2D-rendering of the robot navigation is given.
引用
收藏
页码：1900 / 1905
页数：6
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