The development of a mobile humanoid robot with varying joint stiffness waist
文献类型：会议论文
| 作者 | Zhao TJ(赵铁军); Tan DL(谈大龙); Zhao MY(赵明扬)
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| 出版日期 | 2005 |
| 会议名称 | IEEE International Conference on Mechatronics Automation |
| 会议日期 | July 29 - August 1, 2005 |
| 会议地点 | Niagara Falls, Canada |
| 关键词 | humanoid robot stiffness waist |
| 页码 | 1402-1407 |
| 通讯作者 | 赵铁军 |
| 中文摘要 | A mobile humanoid robot named YIREN has been developed as a platform for the research on intelligent robotics. The robot consists of 23 degrees of freedom (DOF), including the mobile platform, waist, torso, arms, neck and head, and it has two peculiarities: a waist mechanism that could adjust the mechanical compliance suitably and a mobile platform which is an omni-directional mobile robot with orthogonal-wheel assemblies. The design was mainly focused on two essential requirements of safety and mobility. This study aimed at realizing passive compliance of the mobile humanoid robot by its waist, and developing its autonomous navigation ability by its mobile platform. This paper presented a waist mechanism that could vary the joint stiffness. The influence of this waist on the compliant characteristics and the stability of the whole body were studied. The mobile humanoid robot that employs this waist is appropriate for the human-robot cooperative tasks, because it can realize safety motion by performing the waist and varying the joint stiffness while is operating. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Univ Elect Sci & Technol China, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn |
| 会议录 | 2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-9044-X |
| WOS记录号 | WOS:000238860802049 |
| 源URL | [http://ir.sia.cn/handle/173321/20017]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhao TJ,Tan DL,Zhao MY. The development of a mobile humanoid robot with varying joint stiffness waist[C]. 见:IEEE International Conference on Mechatronics Automation. Niagara Falls, Canada. July 29 - August 1, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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