Static force analysis for a mobile humanoid robot moving on a slope

Jingguo Wang, Yangmin Li

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

10 Citations (Scopus)

Abstract

The paper firstly presents a mobile humanoid robot whose upper human-like body is rigidly mounted on the mobile platform with three wheels: two driving wheels and one caster wheel. The wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Then the static equilibrium of the robot on a plane is discussed and tipover stability of mobile humanoid robot moving on the slope is analyzed. In order to investigate the influence of exerting the force on the arm end-effector on the stability of the robot, the typical cases are studied carefully. Finally some simulations are carried out and the influence of different modes on the stability are analyzed by comparing different cases.
Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Pages371-376
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

  • Kinematics
  • Mobile humanoid robot
  • Moving on the slope
  • Static equilibrium
  • Tip-over stability

ASJC Scopus subject areas

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

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