Analysis of handclap motion of humanoid robot upper limbs and virtual prototype simulation
文献类型：会议论文
| 作者 | Wang BR(王斌锐); Yan DM(严冬明); Jin YL(金英连) |
| 出版日期 | 2011 |
| 会议名称 | 2011 International Conference on Future Communication, Computing, Control and Management, ICF4C 2011 |
| 会议日期 | December 16-17, 2011 |
| 会议地点 | Phuket, Thailand |
| 关键词 | Anthropomorphic robots Communication Dynamic models Steering Stiffness |
| 页码 | 501-508 |
| 中文摘要 | Collision safety has been one of the most important issues for humanoid robots study. In this paper, humanoid robot upper limbs were established with 5 degrees of freedom. Based on Jacobin matrix and Lagrange function, the kinematics and dynamics models were established respectively. The collision dynamic model was established by using the nonlinear equivalent spring damping model. During the process of clapping, the laws of each joint movement range, velocity, and torque are given then, and phase relationship of peak value of velocity and torque successively are given too. Various different stiffness experiments are carried out during simulations. Experimental curves show that the angular velocity curves is approximate to the sine curve shape. During collision, the maximal impact influence is on elbow joints. After buffering, wrist joint is influenced higher than elbow joint. Results confirm the simulation platform is efficient and a small calculation step should be adopted. © 2012 Springer-Verlag GmbH. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | Intelligent Inf. Technol. Appl. Res. Assoc.; Hong Kong Education Society |
| 会议录 | Lecture Notes in Electrical Engineering
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Heidelberg, Germany |
| 语种 | 英语 |
| ISSN号 | 1876-1100 |
| ISBN号 | 978-3-642-27313-1 |
| 源URL | [http://ir.sia.cn/handle/173321/10458]  |
| 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 | Wang BR,Yan DM,Jin YL. Analysis of handclap motion of humanoid robot upper limbs and virtual prototype simulation[C]. 见:2011 International Conference on Future Communication, Computing, Control and Management, ICF4C 2011. Phuket, Thailand. December 16-17, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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