Analysis of dynamic stability constraints for a mobile humanoid robot

Jingguo Wang; Yangmin Li; Changwu Qiu

doi:10.1109/ROBIO.2009.4913033

Analysis of dynamic stability constraints for a mobile humanoid robot

Jingguo Wang, Yangmin Li, Changwu Qiu

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

5 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 language	English
Title of host publication	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Pages	377-382
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.4913033
Publication status	Published - 1 Dec 2008
Externally published	Yes
Event	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand Duration: 21 Feb 2009 → 26 Feb 2009

Conference

Conference	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Country/Territory	Thailand
City	Bangkok
Period	21/02/09 → 26/02/09

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

More information

10.1109/ROBIO.2009.4913033

Cite this

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title = "Analysis of dynamic stability constraints for a mobile humanoid robot",

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.",

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AU - Li, Yangmin

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N2 - 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.

AB - 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.

KW - Dynamics

KW - Inverse kinematics

KW - Mobile humanoid robot

KW - Stability

KW - Tip-over preventing constraints

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DO - 10.1109/ROBIO.2009.4913033

M3 - Conference article published in proceeding or book

SN - 9781424426799

SP - 377

EP - 382

BT - 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

T2 - 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Y2 - 21 February 2009 through 26 February 2009

ER -

Analysis of dynamic stability constraints for a mobile humanoid robot

Abstract

Conference

Keywords

ASJC Scopus subject areas

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