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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Weibing Zhu Yanfei Wang Shengren Zhou |
| Copyright Year | 2010 |
| Description | Author affiliation: School of Mechanical Engineering and Automation, Xihua University, Chengdu, Sichuan Province, China (Weibing Zhu; Yanfei Wang; Shengren Zhou) |
| Abstract | ROBONOVA-1 robot is a kind of new type humanoid robot, which can offer educators, students and robotic hobbyists a complete robot package. In order to better study and develop the function of this robot, according to the analysis of its configuration and gait, a seven bar linkage mechanism is established. The lateral walking trace of the robot is planned by using the method of geometry constraints. Cubic spline interpolation function method and MATLAB software are applied to obtain the motion trajectories of hip joint and ankle joint, and their motion simulation is realized in ADAMS software. From the simulation results, the robot can walk continuously. The correctness of the proposed method is demonstrated through the simulation results. The results lay the foundation for real-time gait control for ROBONOVA-1 robot. |
| Starting Page | 1790 |
| Ending Page | 1793 |
| File Size | 718636 |
| Page Count | 4 |
| File Format | |
| ISBN | 9781424467129 |
| e-ISBN | 9781424467129 |
| DOI | 10.1109/WCICA.2010.5554561 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-07-07 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Joints Planning Robot kinematics Hip Leg Spline interpolation Robot Gait planning Trajectory |
| Content Type | Text |
| Resource Type | Article |
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