Research of Dynamic Model of Flexible Two-wheel Upright Self-balance Humanoid Robot

摘要：

The dynamic modeling problem for flexible two-wheel upright self-balance humanoid robot is researched for the first time. A dynamic model is obtained, based on the Lagange equation and dynamics mechanics theory. Using spring imitates hominal lumbar spine for the first time. Considering the lumbar spine of flexible robot, which has an actual length without being treated as an approximate point. All these are diffenent from previous robots. The quality of upper and lower base is summetrical. The simplified dynamic model is obtained by design and its structure is simple. Controlling is easy and effective. The research also supplied theoretic instructions for developing dynamic control system with flexible two-wheel upright elf-balance humanoid robot. It has great significance to design and research for humanoid robot.

作者: ZHAO Jian-wei RUAN Xiao-gang

作者单位: Institute of Artificial Intelligence and Robots, Beoing University of Technology, 10002, Beijing, China

会议类型: 国际会议

会议名称: International Conference on Intelligent Computation Technology and Automation(2008 智能计算技术与自动化国际会议 ICICTA 2008)

会议地点: 长沙

会议语种:英文

页码: 1121-1125

在线出版日期: 2008-10-20（万方平台首次上网日期，不代表论文的发表时间）