DocumentCode
1563624
Title
Modeling and evaluation of the joint mechanical flexibility of a humanoid robot
Author
Huang, Qiang ; Zhang, Di ; Dong, Yongjin ; Zhao, Xiaojun ; Yang, Jie
Author_Institution
Dept. of Mechatronic Eng., Beijing Inst. of Technol., China
Volume
5
fYear
2004
Firstpage
4577
Abstract
The joint mechanical flexibility has great influence upon the reliability of humanoid walking. This issue has rarely been studied in previous investigations. In this paper, the concept of the joint mechanical flexibility is presented and the model of the harmonic drive flexibility is established. Finally, the effectiveness of the model is illustrated by the dynamic simulation and actual humanoid experiments.
Keywords
mobile robots; reliability theory; robot dynamics; dynamic simulation; harmonic drive flexibility; humanoid robot; humanoid walking; joint mechanical flexibility; reliability; Actuators; Drives; Elasticity; Force control; Force sensors; Gears; Harmonic analysis; Humanoid robots; Humans; Legged locomotion;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN
0-7803-8273-0
Type
conf
DOI
10.1109/WCICA.2004.1342384
Filename
1342384
Link To Document