Dynamic modeling of a mobile humanoid robot

Jingguo Wang, Yangmin Li

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

Abstract

This paper first presents a modeling method for a mobile humanoid robot whose upper human-like body is mounted on a mobile platform supported by three wheels (two driving wheels and one caster wheel). The upper body connects the platform by two-DOF joint and the wheeled platform moves on the ground subject to nonholonomic constraints. Then based on Lie groups and screw theory, the kinematics and dynamics of the nonholonomic mobile humanoid robot are developed by simplifying the model into five parts and the dynamic equations of the entire system are formulated from the aspect of energy.
Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Pages639-644
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
Country/TerritoryThailand
CityBangkok
Period21/02/0926/02/09

Keywords

  • Dynamics
  • Mobile humanoid robot
  • Nonholonomic constraints
  • Screw theory

ASJC Scopus subject areas

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

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