Motion Generation for a Humanoid Robot with Inline-skate

Title
Motion Generation for a Humanoid Robot with Inline-skate
Authors
지브널이용권가에따노
Keywords
humanoid; Inline-skate; Dynamics Analisys; Motion Generation; skating motion; wheeled locomotion
Issue Date
2010-06
Publisher
International Conference on Informatics in Control, Automation and Robotics
Citation
, 354-359
Abstract
A lot of research has been done for bipedal walking and many positive results have been produced, such as the ASIMO robot from Honda. However, although bipedal walking is a good solution for moving over uneven surfaces; bipedal walking is inefficient over an even surface because the robot’s walking speed and stability are limited. Consequently, employing a wheeled locomotion on even surfaces can be advantageous. This paper presents a wheeled biped robot with two passive wheels on each foot. This enables the robot to move more efficiently over even surfaces, but also produces a more human-like inline-skating motion than previously created inline-skating simulations.
URI
http://pubs.kist.re.kr/handle/201004/39116
Appears in Collections:
KIST Publication > Conference Paper
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