Dynamic Cooperative Manipulating Pattern Generation for Mobile Humanoid Robot Using Waist Moment Compensation

Abstract:

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This research is aimed at dynamically stable motion and safety of mobile humanoid robots expected to work in a human living space. The mechanism of the mobile humanoid robot YIREN is described. A highly flexible anthropomorphic 7-DOF robotic arm and a new waist configuration with parallel driving motor are developed. Because the dynamitic behavior of manipulator and waist has an effect on the stability of mobile humanoid robots, the dynamitic model is built. By using the zero moment point, dynamic effect of the waist is obtained. A basic control method of whole body cooperative dynamic moving is proposed that uses waist cooperative motion to compensate for moment generated by the trajectory of the arms and the correctness of analysis is verified by experiments.

Info:

Periodical:

Advanced Materials Research (Volumes 201-203)

Edited by:

Daoguo Yang, Tianlong Gu, Huaiying Zhou, Jianmin Zeng and Zhengyi Jiang

Pages:

1978-1982

DOI:

10.4028/www.scientific.net/AMR.201-203.1978

Citation:

T. J. Zhao "Dynamic Cooperative Manipulating Pattern Generation for Mobile Humanoid Robot Using Waist Moment Compensation", Advanced Materials Research, Vols. 201-203, pp. 1978-1982, 2011

Online since:

February 2011

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$35.00

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