Archive for Июнь 25th, 2011

Kinematic Analysis and Computation of ZMP for a 12-internal-dof Biped Robot

Дата: Июнь 25th, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6596
  • Название документа: Kinematic Analysis and Computation of ZMP for a 12-internal-dof Biped Robot
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: O. Narvez-Aroche, E. Rocha-C´ozatl, F. Cuenca-Jim´enez z
  • Правопреемник/учебное заведение: National Autonomous University of Mexico
  • Дата публикации документа: 2011-06-25
  • Страна опубликовавшая документ: Мексика
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: 13th Worl d Congress in Mechanism and Machine Science, Guana
  • Вложения: Да
  • Аналитик: Глаголева Елена

Inthis paper we present the kinematic analysis of a 12-internal-DOF (three-dimensional and anthropomorphic) biped robot, the Scout Lynxmotion c , towards a ZMP-based control. Since there are only few contributions that contain explicit models of similar robot s, but not exactly this one, our first goal was to generate a kinematicdynamic model that will let us study and control the locomotion of the biped. As the space is limited, this paper is restricted to the presen-tation of the representative steps of the kinematic modeling and the computation of the ZMP, which are then evaluated by numerical simulations. The dynamic model, which has been already obtained, will be published later on.

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