Dynamics based modeling of wheeled platform for humanoid robot torso
| Autor: | Veljko Potkonjak, Kosta Jovanovic, M Vladimir Petrovic |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
Computer Networks and Communications
Computer science Mechanical Engineering Dynamics (mechanics) biologically inspired robotics Energy Engineering and Power Technology Torso semi-anthropomimetical structure ZMP medicine.anatomical_structure Hardware and Architecture Control and Systems Engineering antagonistically coupled drives medicine lcsh:Electrical engineering. Electronics. Nuclear engineering Electrical and Electronic Engineering lcsh:TK1-9971 Humanoid robot Simulation |
| Zdroj: | Serbian Journal of Electrical Engineering (2016) 13(3):335-345 Serbian Journal of Electrical Engineering, Vol 13, Iss 3, Pp 335-345 (2016) |
| ISSN: | 1451-4869 |
| Popis: | From the ancient mythology till the modern times, people were trying to build an artificial mechanical replica of themselves. Inspired by this long tradition of various engineering projects, we will hereby describe a partly humanoid robotic structure. Our robotic configuration is composed out of an anthropomimetic upper body, but instead of legs it uses a wheeled cart for the motion. In our research, this so-called semi-anthropomimetic structure has a four-wheeled cart. This work is aiming to analyze the behaviour of the robot that is exposed to different kind of external disturbances. Disturbances coming from the outside in the form of external forces (impulse and long term) simulate the interactions of the robot and its ambience. Necessary simulations were thoroughly executed (in that way analyzing robotic balance) and proper size of the cart is evaluated following the ZMP theoretical background. [Projekat Ministarstva nauke Republike Srbije, br. TR-35003 i br. III-44008] |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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