Abstract
Based on the screw theory and Lie group notations, this paper presents a modeling method for a kind of wheeled humanoid robot whose upper human-like body is mounted on the top of a mobile platform with three wheels. By combining the reciprocal product of the twist and wrench with Jourdain variation principle, a general formulation method is proposed to model the whole system's dynamics that represents directly the relationship between the input and the resultant external and inertial wrench. Both the system kinematics and dynamics are derived carefully. The simulations are made to verify the proposed modeling methodology and the simulation results are also compared with the results obtained from the multi-body dynamics software.
Original language | English |
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Article number | 1250029 |
Journal | International Journal of Humanoid Robotics |
Volume | 9 |
Issue number | 4 |
DOIs | |
Publication status | Published - 1 Dec 2012 |
Externally published | Yes |
Keywords
- Dynamics modeling
- nonholonomic constraints
- screw theory
- twist and wrench
- wheeled humanoid robot
ASJC Scopus subject areas
- Artificial Intelligence
- Mechanical Engineering