DocumentCode
2989650
Title
A study on joint compliance for a biped robot
Author
Ki-Joo Lee ; Hong Jae Yim ; Siyoul Jang
Author_Institution
Graduate Sch. of Automotive Eng., Kookmin Univ., Seoul
fYear
2005
fDate
5-5 Dec. 2005
Firstpage
307
Lastpage
312
Abstract
Dynamic simulations are often used to design mechanisms and to develop control algorithms for stable walking of the humanoid robot. For accurate dynamic simulations, the flexible compliances at the joints of the humanoid robot must be considered in the computer simulation model. In this paper a method to identify the proper compliances among the joints is presented. Dynamic simulations with the proposed method are compared with the test results
Keywords
compliance control; humanoid robots; legged locomotion; robot dynamics; biped robot; flexible compliances; humanoid robot; joint compliance; walking stability; Actuators; Automotive engineering; Computational modeling; Computer simulation; Damping; Humanoid robots; Kinematics; Legged locomotion; Nonlinear dynamical systems; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots, 2005 5th IEEE-RAS International Conference on
Conference_Location
Tsukuba
Print_ISBN
0-7803-9320-1
Type
conf
DOI
10.1109/ICHR.2005.1573585
Filename
1573585
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