Dynamic modeling of a mobile humanoid robot

Jingguo Wang; Yangmin Li

doi:10.1109/ROBIO.2009.4913076

Dynamic modeling of a mobile humanoid robot

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

9 Citations (Scopus)

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 language	English
Title of host publication	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Pages	639-644
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.4913076
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
Mobile humanoid robot
Nonholonomic constraints
Screw theory

ASJC Scopus subject areas

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

More information

10.1109/ROBIO.2009.4913076

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title = "Dynamic modeling of a mobile humanoid robot",

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.",

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AB - 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.

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KW - Screw theory

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M3 - Conference article published in proceeding or book

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SP - 639

EP - 644

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

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Y2 - 21 February 2009 through 26 February 2009

ER -

Dynamic modeling of a mobile humanoid robot

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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