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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wang Zhenyu Li Baichun Yu Tianbiao Wang Wanshan Li Jian |
| Copyright Year | 2015 |
| Description | Author affiliation: Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang, China (Wang Zhenyu; Li Baichun; Yu Tianbiao; Wang Wanshan) || 43th Unit, PLA, Jinzhou, China (Li Jian) |
| Abstract | Based on the data collection of the freestyle skiing athlete Xu Mengtao and the actual situation of robot modeling parts layout, the mechanical structure of the freestyle skiing robot (FSR) is established. According to this model experiment platform, the corresponding kinematic model is established. Based on inverse kinematics solution and the data collection of the athlete during the aid-slippery stage, the gait planning of the freestyle-skiing robot is done utilizing polynomial interpolation programming algorithm. The three-dimensional simulation is realized by ADAMS. The results of the simulation show that the inverse kinematic analytical solution can ensure real time of simulation and verify the stability and viability of the gait planning. |
| Starting Page | 3202 |
| Ending Page | 3206 |
| File Size | 735798 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781479978007 |
| DOI | 10.1109/ICIT.2015.7125571 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-03-17 |
| Publisher Place | Spain |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Kinematics Joints Humanoid robots Planning Hip Mathematical model kinematics simulation freestyle skiing robot mechanical structure kinematics analysis gait planning |
| Content Type | Text |
| Resource Type | Article |
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