利用倒立摆对两足仿人机器人进行推力回收建模

2012 International Conference on Communication, Information & Computing Technology (ICCICT) Pub Date : 2012-12-31 DOI:10.1109/ICCICT.2012.6398102

A. Akash, S. Chandra, A. Abha, G. Nandi

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引用次数: 8

摘要

推动回收是两足仿人机器人在家庭应用中需要发展的一项重要技术。在本文中，开发了一个相当于人形开放架构平台(HOAP -2)的三质量倒立摆模型，并使用称为WEBOTS的软件框架证明了该模型的有效性。它已被开发为HOAP-2型人形机器人开发复杂的推回收技术的试验台。该模型的功能具有通用性，适用于三种质量模型中的任何一种。通过踝关节策略技术验证了模型的正确性。仿真结果成功地验证了模型的正确性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modeling a bipedal humanoid robot using inverted pendulum towards push recovery

Push recovery is an important technology needs to be developed for the effective use of bipedal humanoid robot in the household applications. In this paper, a three mass inverted pendulum model equivalent to Humanoid Open Architecture Platform (HOAP -2) has been developed and the effectiveness of the model has been demonstrated using a software framework known as WEBOTS. It has been developed as a test bed for the development of sophisticated Push recovery techniques for HOAP-2 humanoid robot. Functionality of this model is general and adaptable to any kind of three mass models. Ankle strategy technique has been implemented to verify the correctness of the model. The correctness of the model has been verified successfully by the simulation results.

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2012 International Conference on Communication, Information & Computing Technology (ICCICT)

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