A Dynamic Model of Humanoid Robots using the Analytical Method
- A Dynamic Model of Humanoid Robots using the Analytical Method
- 이상용; 조창현; 최문택; 김문상; 김종원
- Issue Date
- International Journal of Precision Engineering and Manufacturing
- VOL 11, NO 1, 67-75
- This paper presents a new approach to analyzing dynamic models of humanoid robots. This new approach is
divided into an unconstrained system that applies the principle of Lagrangian dynamics and a constrained system
that applies Gauss’ principle. Constrained motion is important in the design and analysis of humanoid robots. In
this paper, the central issue in the determination of the constrained system is considered to be the determination of
this constraint factor. Using the fundamental equation described by the proposed approach, the constraint
equation can easily be generated. Based upon the fundamental equation, the dynamic model of the humanoid robot
is explained as divided by the sagittal and frontal planes. The suggested approach simplifies designing dynamic
models of humanoid robots which will obey the constrained system whether or not they are constrained,
holonomic, or open chain.
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