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The Simulation Analysis of Humanoid Robot Based on Dynamics and Kinematics [chapter]

Xing-qiao Deng, Jin-ge Wang, Zhong-fan Xiang
<span title="">2008</span> <i title="Springer Berlin Heidelberg"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/2w3awgokqne6te4nvlofavy5a4" style="color: black;">Lecture Notes in Computer Science</a> </i> &nbsp;
The robot dynamics and kinematics equation based on Danevit-Hartenberg was educed and a virtual model of humanoid robot was developed.  ...  The simulator can emulate the dynamics of the robot and test the control algorithms, which are the virtual counterpart of the hardware robot platform for the humanoid robotic; the controller can handle  ...  concern is to develop the simulator of humanoid robots based on Pro/ENGINEER and analyze the dynamics and Kinematics.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-540-88513-9_11">doi:10.1007/978-3-540-88513-9_11</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/sdb5pcqt4nfjlmmmoxekyescdy">fatcat:sdb5pcqt4nfjlmmmoxekyescdy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190221220753/http://pdfs.semanticscholar.org/2f50/55e70f269c775ae6c52f23c29cd38bb89ee8.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/2f/50/2f5055e70f269c775ae6c52f23c29cd38bb89ee8.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-540-88513-9_11"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Research on Optimization Walking Robot Gait Planning Based on Human Bionics

Xuhui Sun
<span title="2016-06-30">2016</span> <i title="Science and Engineering Research Support Society"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/gri3ay7vs5efhoridfutfkfagu" style="color: black;">International Journal of Multimedia and Ubiquitous Engineering</a> </i> &nbsp;
By setting the parameters, the use of MATLAB simulation software to obtain motion curve of each joint and humanoid robot designed to simulate obtain humanoid robot gait simulation video.  ...  Depending on the needs of the kinematic model is divided into forward motion model and lateral movement model. Link by representatives' form various parts of the robot to simplify the model.  ...  Kinematic Modeling Analysis Humanoid robot kinematics analysis is the basis for the subsequent gait analysis, but also to analyze and verify the use of a degree of freedom to the configuration.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.14257/ijmue.2016.11.6.26">doi:10.14257/ijmue.2016.11.6.26</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xjfpeje46vfsfaw2vblkimcwia">fatcat:xjfpeje46vfsfaw2vblkimcwia</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180602040032/http://www.sersc.org/journals/IJMUE/vol11_no6_2016/26.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b7/1e/b71e7e08b16da06a25862b357a17c62dfdc3e86b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.14257/ijmue.2016.11.6.26"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Action Planning and Design of Humanoid Robot Based on Sports Analysis in Digital Economy Era

<span title="2022-03-15">2022</span> <i title="Scholar Publishing Group Ltd"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wbimio2vcrepxjnwjwivenhdzi" style="color: black;">International Journal of Multimedia Computing</a> </i> &nbsp;
of robot is completed based on the pressure sensor of robot sole, and the algorithm optimization solution of robot hip joint angle is carried out based on ZMP control strategy, The dynamic simulation  ...  Based on the above background, the purpose of this paper is to study the motion planning and design of humanoid robot based on sports analysis.  ...  Based on the degree of freedom configuration of humanoid robot, the walking model of humanoid robot is built in webots software, and the kinematics and dynamics simulation of humanoid robot are carried  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.38007/ijmc.2022.030106">doi:10.38007/ijmc.2022.030106</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gpktid3mqzbpfff3eckkf4trey">fatcat:gpktid3mqzbpfff3eckkf4trey</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220610015925/http://scholar-press.com/uploads/papers/gP2pYyuqJCQ1KVm7re37aU51G8DFK5Zz67pKY7Rr.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/81/e7/81e794ce4262b59b6ab9d2847b03ed2663bfbd0e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.38007/ijmc.2022.030106"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Conceptual Design and Kinematic Analysis of Humanoid Robot

Kaushal Dholariya, A. Arockia Selvakumar
<span title="2016-09-20">2016</span> <i title="Indian Society for Education and Environment"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wffwpj3q45g5zfjzfeyagk5uea" style="color: black;">Indian Journal of Science and Technology</a> </i> &nbsp;
This paper presents the conceptual design, kinematic analysis and development of voice control system of the proposed 14 Degree of Freedom (DOF) humanoid robot (AKSHAR).  ...  The forward kinematics of the humanoid arm is done by (DH) method. Generally, the inverse kinematics of humanoid robot is mostly non-linear and difficult to solve.  ...  Based on the above survey, it is found that the design, analysis, and simulation of humanoid robot are very difficult.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.17485/ijst/2016/v9i34/100882">doi:10.17485/ijst/2016/v9i34/100882</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5gi5wu5apjepli6tk4zxhczq6m">fatcat:5gi5wu5apjepli6tk4zxhczq6m</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190428121751/http://www.indjst.org/index.php/indjst/article/download/100882/73146" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.17485/ijst/2016/v9i34/100882"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Kinematic, Workspace and Static Analysis of a Upper Body Humanoid Robot

<span title="2019-07-26">2019</span> <i title="Blue Eyes Intelligence Engineering and Sciences Engineering and Sciences Publication - BEIESP"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/cj3bm7tgcffurfop7xzswxuks4" style="color: black;">VOLUME-8 ISSUE-10, AUGUST 2019, REGULAR ISSUE</a> </i> &nbsp;
Kinematic analysis plays a crucial role in the development of a humanoid robot. This paper presents the kinematic, workspace and static analysis of a Humanoid upper body robot.  ...  The proposed torso and arm design can imitate the human body postures. The humanoid robot is designed with 3 Dofs in the torso, 2 Dofs in the neck and 5 Dofs in each arm.  ...  Chances of upper body collapse and self collision during locomotion is also very high. Kinematic analysis of a humanoid robot based on screw theory is discussed in Man et al. [1] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.35940/ijitee.f1187.0486s419">doi:10.35940/ijitee.f1187.0486s419</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4gpkvjepibexnmmwr54umk2h2u">fatcat:4gpkvjepibexnmmwr54umk2h2u</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220302110007/https://www.ijitee.org/wp-content/uploads/papers/v8i6s4/F11870486S419.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/11/f6/11f6f4fab12fc8c247d5c2fc2e87ae7b0f9b9e21.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.35940/ijitee.f1187.0486s419"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots [article]

Shunpeng Yang, Hua Chen, Zhen Fu, Wei Zhang
<span title="2021-08-15">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Relying on rigorous analysis of whole-body dynamics of position-controlled humanoids under unknown contact, the developed stabilizer leverages quadratic-programming based technique that allows cooperative  ...  The effectiveness of the proposed stabilizer is demonstrated on the UBTECH Walker robot in the MuJoCo simulator.  ...  ANALYSIS OF WHOLE-BODY DYNAMICS WITH UNKNOWN CONTACTS Principled design of effective stabilizers for positioncontrolled humanoid robot requires careful analysis and thorough understanding of how the CoM  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2108.06652v1">arXiv:2108.06652v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3rbpdv5qxvds3m62e3oavt2cby">fatcat:3rbpdv5qxvds3m62e3oavt2cby</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210830115103/https://arxiv.org/pdf/2108.06652v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b0/4f/b04fb0ad949a454571e9ce46f05005149d1feff4.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2108.06652v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Kinematics and Dynamics of a New 16 DOF Humanoid Biped Robot with Active Toe Joint

C. Hernández-Santos, E. Rodriguez-Leal, R. Soto, J.L. Gordillo
<span title="">2012</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dlo33cxbtffljkmrdnlsbqmlcq" style="color: black;">International Journal of Advanced Robotic Systems</a> </i> &nbsp;
Humanoid biped robots are typically complex in design, having numerous Degrees-of-Freedom (DOF) due to the ambitious goal of mimicking the human gait.  ...  The paper proposes a new architecture for a biped robot with seven DOF per each leg and one DOF corresponding to the toe joint.  ...  dynamic model of the humanoid robot to an inverted pendulum that is based upon either a simple observation or mathematical analysis, derived from kinematics [17] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/52452">doi:10.5772/52452</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ugj54ltp35dbpive6fkcmswqu4">fatcat:ugj54ltp35dbpive6fkcmswqu4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170815200643/http://cdn.intechopen.com/pdfs-wm/41061.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f4/1e/f41ef7c21e25f35da5c9f0779733722fca9ace70.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/52452"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Design and implementation of a three-dimensional simulation system for a humanoid table tennis robot

Lu Zhou
<span title="2020-02-11">2020</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/jvsm452hezgd3gt3qiqntkandu" style="color: black;">Measurement and control (London. 1968)</a> </i> &nbsp;
The table tennis game of the humanoid robot is implemented using the simulation of the forward and inverse kinematics of the robot arm, the hitting planning, and the forward and inverse kinematics of the  ...  The simulation system and the humanoid robot's control system are connected based on the RTnet real-time Ethernet protocol.  ...  MathWork's Simulink is tightly integrated with MATLAB and is an integrated environment for dynamic modeling, simulation, and analysis of systems.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1177/0020294019898742">doi:10.1177/0020294019898742</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/hnljty4ufjgknj5t62sriqza3i">fatcat:hnljty4ufjgknj5t62sriqza3i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200212045953/https://journals.sagepub.com/doi/pdf/10.1177/0020294019898742" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/09/95/099595058439202f96af3e83c2863d6d2d911fef.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1177/0020294019898742"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> sagepub.com </button> </a>

Implementation and Integration of Fuzzy Algorithms for Descending Stair of KMEI Humanoid Robot

Wulandari Puspita Sari, R. Sanggar Dewanto, Dadet Pramadihanto
<span title="2020-12-02">2020</span> <i title="EMITTER International Journal of Engineering Technology"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/6zyup5ffs5h4fnibbrfjtdbjza" style="color: black;">Emitter: International Journal of Engineering Technology</a> </i> &nbsp;
This paper verified the simulation and the experiment for descending stair of KMEI humanoid robot.  ...  The established humanoid robot on dynamically balance on this matter of zero moment point has been pretended to be consisting of single support phase and double support phase.  ...  Acknowledgements The authors would like to thank all the member of the EEPIS Robotics Research Center (ER2C) laboratory, and Politeknik Elektronika Negeri Surabaya and to Ministry of Research, Technology  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.24003/emitter.v8i2.535">doi:10.24003/emitter.v8i2.535</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3mphuf6vabd4nidmh3pioig3ja">fatcat:3mphuf6vabd4nidmh3pioig3ja</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201212122405/https://emitter.pens.ac.id/index.php/emitter/article/download/535/204" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/aa/68/aa68805fdd9e480e1e1282644ed957b6945939dd.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.24003/emitter.v8i2.535"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Motion optimization of humanoid mobile robot with high redundancy

Hongxing Wang, LianZheng Ge, Ruifeng Li, Yunfeng Gao, Chuqing Cao
<span title="2021-01-18">2021</span> <i title="Emerald"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/a676bv5l4vemtivvslwb26j2ju" style="color: black;">Assembly Automation</a> </i> &nbsp;
Given the high redundancy of humanoid mobile robot, a kinematic model is designed through the entire modeling and an optimal solution extraction method based on 2-norm is proposed to solve the inverse  ...  Social implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis  ...  The current issue and full text archive of this journal is available on Emerald Insight at: https://www.emerald.com/insight/0144-5154.htm  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1108/aa-06-2020-0083">doi:10.1108/aa-06-2020-0083</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/x3bb7l5ubfb55gaxukxuwftsxi">fatcat:x3bb7l5ubfb55gaxukxuwftsxi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210715155800/https://www.emerald.com/insight/content/doi/10.1108/AA-06-2020-0083/full/pdf?title=motion-optimization-of-humanoid-mobile-robot-with-high-redundancy" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/85/1d/851d8d62eb34d5cdd6d96e14f003bd441c458380.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1108/aa-06-2020-0083"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Virtual Entity-Based Rapid Prototype for Design and Simulation of Humanoid Robots

Guofeng Tong, Jiuhong Gu, Wei Xie
<span title="">2013</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dlo33cxbtffljkmrdnlsbqmlcq" style="color: black;">International Journal of Advanced Robotic Systems</a> </i> &nbsp;
The humanoid robot is mathematically modelled with adjustable physical parameters which determine the kinematic and dynamic behaviour of the virtual entity in the simulation environment.  ...  This paper proposes a framework for a virtual entity-based rapid prototype (VERP) to facilitate the design and simulation of humanoid robots.  ...  In Section 3, a general virtual humanoid robot is modelled with kinematics analysis and gait plan to facilitate control design and simulation study.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/55936">doi:10.5772/55936</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/dqpomx6wwvccjgc5wpdmz2l3a4">fatcat:dqpomx6wwvccjgc5wpdmz2l3a4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170813223953/http://cdn.intechopen.com/pdfs/45503/InTech-Virtual_entity_based_rapid_prototype_for_design_and_simulation_of_humanoid_robots.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c4/31/c431852c5273f2b9b60dc00417ee2924509a59bc.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/55936"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Whole-body torques for generating complex movements in humans and humanoids

L. Saab, N. Mansard, P. Souères, J-Y. Fourquet, M. Sreenivasa, Y. Nakamura
<span title="">2012</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p3wtlm3j2fedxitkuu4bs3scau" style="color: black;">IFAC Proceedings Volumes</a> </i> &nbsp;
The general features of movement during a sequence of reaching tasks are analyzed. In particular we compare kinematics-based and dynamics-based movements.  ...  The general features of movement during a sequence of reaching tasks are analyzed. In particular we compare kinematics-based and dynamics-based movements.  ...  ACKNOWLEDGEMENTS This work is based on a collaboration between the Gepetto Group of the LAAS-CNRS and the Nakamura Laboratory (YNL) of the University of Tokyo.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3182/20120905-3-hr-2030.00177">doi:10.3182/20120905-3-hr-2030.00177</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gvk4fqqf2fd3tbcufdwdqecyzy">fatcat:gvk4fqqf2fd3tbcufdwdqecyzy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190427052955/https://ro.uow.edu.au/cgi/viewcontent.cgi?article=2594&amp;context=eispapers1" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ea/89/ea89f25453bd754079919b13f498971086bf5c0e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3182/20120905-3-hr-2030.00177"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Static force analysis for a mobile humanoid robot moving on a slope

Jingguo Wang, Yangmin Li
<span title="">2009</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/vhg5emjesjdv5lf57jbeunhgqa" style="color: black;">2008 IEEE International Conference on Robotics and Biomimetics</a> </i> &nbsp;
Then the static equilibrium of the robot on a plane is discussed and tipover stability of mobile humanoid robot moving on the slope is analyzed.  ...  Finally some simulations are carried out and the influence of different modes on the stability are analyzed by comparing different cases.  ...  In Section II, the related works on the stability are surveyed. In section III, it presents the architecture and kinematic analysis of the mobile humanoid robot.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robio.2009.4913032">doi:10.1109/robio.2009.4913032</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/robio/WangL08.html">dblp:conf/robio/WangL08</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/27aiwvue2jg6tluvp5liakcryu">fatcat:27aiwvue2jg6tluvp5liakcryu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705112504/http://www.cis.umac.mo/%7Eyangmin/conferencepdf/C08-4-ROBIO.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e9/0b/e90b3d4fce864acc7b9d19b3b9d535fd365ced6f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robio.2009.4913032"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

An Open Loop Walking on Different Slopes for NAO Humanoid Robot

Amir Massah B, Arman Sharifi K., Yaser Salehinia, Farid Najafi
<span title="">2012</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/5i4djr4tgnbobnjegejzpw7nny" style="color: black;">Procedia Engineering</a> </i> &nbsp;
Dynamic gait planning for humanoid robots encounters difficulties such as stability, speed, and smoothness.  ...  In most of previous studies, joints' trajectories are calculated in 3D Cartesian space, then, introducing boundary conditions and using polynomials, the first and second derivatives of the motion are ensured  ...  This approach was derived from the dynamical analysis of robot motion viewpoint.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.proeng.2012.07.176">doi:10.1016/j.proeng.2012.07.176</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ttfadctykfe7bnnymlxcoeutze">fatcat:ttfadctykfe7bnnymlxcoeutze</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190417054117/https://core.ac.uk/download/pdf/82672781.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/fd/f0/fdf0e7eb325ec96c676659a856801e307aab7577.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.proeng.2012.07.176"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> elsevier.com </button> </a>

Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach

H. Dallali, M. Mosadeghzad, G. A. Medrano-Cerda, N. Docquier, P. Kormushev, N. Tsagarakis, Zhibin Li, D. Caldwell
<span title="">2013</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ony6hixm2fcardaayyhmeyiioi" style="color: black;">2013 IEEE International Conference on Mechatronics (ICM)</a> </i> &nbsp;
This paper reports on development of an open source dynamic simulator for the COmpliant huMANoid robot, COMAN.  ...  The key advantages of this simulator are: it generates efficient symbolic dynamical equations of the robot with high degrees of freedom, it includes a user-defined model of the actuator dynamics (the passive  ...  ACKNOWLEDGMENT This work is supported by the European Commission FP7, "AMARSI" Project ICT-2009-4. The authors would like to thank Prof. Paul Fisette for his support.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icmech.2013.6519110">doi:10.1109/icmech.2013.6519110</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icmech/DallaliMMDKTLC13.html">dblp:conf/icmech/DallaliMMDKTLC13</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/pmowl7jiuvenhnw324syse6ot4">fatcat:pmowl7jiuvenhnw324syse6ot4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20160731191359/http://kormushev.com/papers/Dallali_ICM-2013.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/97/82/9782afe7b08997fac7d7f7556f3cfdb004f53f2e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icmech.2013.6519110"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>
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