The development of a mobile humanoid robot with varying joint stiffness waist

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

	The development of a mobile humanoid robot with varying joint stiffness waist
	Zhao TJ(赵铁军); Tan DL(谈大龙); Zhao MY(赵明扬)
	2005
会议名称	IEEE International Conference on Mechatronics Automation
会议日期	July 29 - August 1, 2005
会议地点	Niagara Falls, Canada
关键词	humanoid robot stiffness waist
页码	1402-1407
通讯作者	赵铁军
中文摘要	A mobile humanoid robot named YIREN has been developed as a platform for the research on intelligent robotics. The robot consists of 23 degrees of freedom (DOF), including the mobile platform, waist, torso, arms, neck and head, and it has two peculiarities: a waist mechanism that could adjust the mechanical compliance suitably and a mobile platform which is an omni-directional mobile robot with orthogonal-wheel assemblies. The design was mainly focused on two essential requirements of safety and mobility. This study aimed at realizing passive compliance of the mobile humanoid robot by its waist, and developing its autonomous navigation ability by its mobile platform. This paper presented a waist mechanism that could vary the joint stiffness. The influence of this waist on the compliant characteristics and the stability of the whole body were studied. The mobile humanoid robot that employs this waist is appropriate for the human-robot cooperative tasks, because it can realize safety motion by performing the waist and varying the joint stiffness while is operating.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Univ Elect Sci & Technol China, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn
会议录	2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-9044-X
WOS记录号	WOS:000238860802049
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20017]
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	Zhao TJ,Tan DL,Zhao MY. The development of a mobile humanoid robot with varying joint stiffness waist[C]. 见:IEEE International Conference on Mechatronics Automation. Niagara Falls, Canada. July 29 - August 1, 2005.