Analysis of dynamic stability constraints for a mobile humanoid robot

Jingguo Wang, Yangmin Li, Changwu Qiu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)

Abstract

This paper firstly presents a method to formulate the dynamics of the mobile humanoid robot which is composed by the mobile platform and the upper body. As tip-over is an important stable issue for the mobile robot, the dynamic stability constraint is carefully studied to keep the robot stable. Stable support for the robot moving on a plane is solved. With the consideration of the stability problem during the solution of inverse kinematics, the tip-over preventing constraint is applied to get the optimized solution. Finally computer simulations are carried out with and without the consideration of tip-over preventing constraints respectively.
Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Pages377-382
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand
Duration: 21 Feb 200926 Feb 2009

Conference

Conference2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
CountryThailand
CityBangkok
Period21/02/0926/02/09

Keywords

  • Dynamics
  • Inverse kinematics
  • Mobile humanoid robot
  • Stability
  • Tip-over preventing constraints

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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