Title :
Study on mechanics laws for anthropomorphic biped robots to walk dynamically on sloping surface
Author_Institution :
Inst. of Robotics, Central South Univ. of Technol., Changsha, China
Abstract :
This paper mainly deals with the mechanics problem for a kind of anthropomorphic biped robots to walk dynamically on sloping surface. Through analysing the mechanics system of this kind of robots in detail, the motion constraint equations are established, three mechanics laws describing the relationships among the external forces are obtained, the method of determining these external forces and the corresponding computation formulas are given, and an approach to determining the action point of slope friction is proposed for rigid feet
Keywords :
legged locomotion; mobile robots; robot dynamics; anthropomorphic biped robots; dynamic walking; mechanical laws; motion constraint equations; slope friction action point determination; sloping surface; Anthropomorphism; Educational institutions; Equations; Friction; Leg; Legged locomotion; Manipulators; Motion analysis; Robots; Torso;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503786
