ICRA 2012 Paper Abstract


Paper WeC110.1

Hemami, Hooshang (The Ohio State University), Zheng, Yuan F. (The Ohio State University)

A Three-Link Module for Modular Dynamics and Control of High-Dimensional Humanoids

Scheduled for presentation during the Interactive Session "Interactive Session WeC-1" (WeC110), Wednesday, May 16, 2012, 14:30−15:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Humanoid and Bipedal Locomotion, Humanoid Robots


Modeling complicated dynamics of homanoids is considered in this paper. It is proposed that three-link module is a pivotal element in formulation of high-dimensional humanoids. The equations of motion of the module are first derived by projection of the free body equations of motion onto the space of the translation of an arbitrary point and Bryant angles and angular velocities. It is then shown that the formulation can be used as a construction module for systems with a larger number of segments. Holonomic and nonholonomic constraints are included to show the feasibility and versatility for representing other parts of the humanoid system. Digital computer simulations are presented to test the module’s formulation and demonstrate its behavior in two maneuvers, jumping and sway. Keywords: three dimensional dynamics, stability, coordination, jumping, and platform disturbance.



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