Modeling and control of a humanoid robot

被引：1

作者：

Bajrami, X. ^{[1
]}

Ove, P. Kopacek ^{[1
]}

Shala, A. ^{[2
]}

Likaj, R. ^{[2
]}

机构：

[1] Vienna Univ Technol, Inst Mech & Mech Intelligent Handling & Robot IH, Vienna, Austria

[2] Univ Prishtina, Mech Engn Fac Bregu & Diellit, Prishtina 10000, Kosovo

来源：

ELEKTROTECHNIK UND INFORMATIONSTECHNIK | 2013年 / 130卷 / 02期

关键词：

humanoid robots; kinematics; dynamics; stability; simulation;

D O I：

10.1007/s00502-013-0133-5

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 work deals with modeling of humanoid robots, especially for planning motion using the Denavit-Hartenberg method to determine the inverse kinematics of used trajectory (Matlab/Simulink and SimMechanics). The simulations are applied to an existing robot, in order to determine the optimal trajectory for the robot motion.

引用

页码：61 / 66

页数：6

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