Humanoid Climbing Robot Modeling in Matlab-Simechanics

被引：0
|
作者：
Nguyen Anh Dung [1 ]
Shimada, Akira [1 ]
机构：
[1] Shibaura Inst Technol, Tokyo 108, Japan
来源：
39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013) | 2013年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This research is undertaken to improve technologies that enable the design and implementation of a humanoid robot able to climb vertical natural terrain. Humanoid climbing robot (HC Robot) is designed to climb up a climbing wall totally autonomously, and it is expected to be useful to rescue in disaster area. It seems more difficult to analyze the dynamic character of humanoid climbing robot because of the complexity of mathematical description. Therefore, this paper starts with climbing technique analysis. After that, a rudimentary analysis of mechanical structure and kinematics of HC robot is shown. Secondly, a 3D humanoid climbing robot is built and simulated in Matlab-Simscape environment, and next, this model is used to perform statics and dynamics motions as some basic climbing motions.
引用
收藏
页码：4162 / 4167
页数：6
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