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Abstract: The mobile humanoid robot is designed for studying
humanoid robot technology. It has human-like upper body configuration of
a head, two arms, a waist, a trunk and a mobile platform. The waist of
humanoid robot plays an important role on the kinematics and dynamics
property of the whole body. Problems of the humanoid robot waist is
described, a flexible waist that could vary the joint stiffness is
presented. The influence of this waist on the compliant characteristics
of the whole body is studied. This waist can stabilize the humanoid
robot by performing the waist and the arms dynamic cooperative motion
and realize security by varying the joint stiffness while operating. The
model method of the mechanical systems kinematics, dynamics and
stiffness is developed.
Key words: Humanoid robot Stiffness Waist
CLC No: TP24
国家863高技术研究发展计划(2001AA422170)和辽宁省自然科学基金(20032036)资助项目.
Received 20030224, received in revised form 20030910
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