Rolling Motion Generation of Multi-Points Contact for a Humanoid Robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Rolling Motion Generation of Multi-Points Contact for a Humanoid Robot
	Yu DC(于大程); Yu ZG(余张国); Fang X(方玺); Lei, Siyu; Chen XC(陈学超); Huang Q(黄强); Meng, Libo; Zhou QQ(周钦钦); Zhang WM(张伟民); Han JD(韩建达)
	2016
会议名称	2016 International Conference on Advanced Robotics and Mechatronics (ICARM)
会议日期	Augest 18-20, 2016
会议地点	Macau, PEOPLES R CHINA
页码	153-158
通讯作者	于大程
中文摘要	The posture of a humanoid robot needs to be changed from lying state to others in order to complete required missions. With the rolling motion, it is possible for a humanoid robot to change lying state and adapt itself to the environmental uncertainties. The study of rolling motion for humanoid robots is fairly rare. This paper proposed a highly dynamic whole-body rolling motion. The planned rolling motion trajectories were based on the motion of human rolling, and meet the constraints of dynamic stability and multi-points contact conditions. The trajectory of the center of mass (CoM) and environmental constraints were calculated by dividing whole-body motion into upper and lower body movement. The effectiveness of proposed method was confirmed by dynamic simulation on a virtual humanoid robot.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	S China Univ Technol, Univ Macau, EEE Syst Man & Cybernet Soc, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, IEEE SMCA Tech Comm Computat Psychophysiol, IEEE SMCA Tech Comm Bio Mechatron & Bio Robot Syst, IFAC Tech Comm Econ Business & Financial Syst
会议录	IEEE ICARM 2016 - 2016 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM)
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-5090-3364-5
WOS记录号	WOS:000386653600027
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19410]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Yu DC,Yu ZG,Fang X,et al. Rolling Motion Generation of Multi-Points Contact for a Humanoid Robot[C]. 见:2016 International Conference on Advanced Robotics and Mechatronics (ICARM). Macau, PEOPLES R CHINA. Augest 18-20, 2016.