虚拟环境中18自由度仿人机器人的建模

Second International Conference on the Innovative Computing Technology (INTECH 2012) Pub Date : 2012-09-01 DOI:10.1109/INTECH.2012.6457782

M. Menad, Z. A. Foitih

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引用次数: 1

摘要

人形机器人的建模一直到今天仍然是一个模棱两可的模型;已经通过几种途径和方法进行了一些研究。有的工作将仿人机器人的关节视为树形结构，有的则将其视为闭合或打开的关节链。建模方法也不同:Denavit Hartenberg的方法，建模概念(父子)使用Rodrigues方程和状态空间方法[1]。在这篇文章中提出的工作，感兴趣的是一个人形机器人的建模与18个自由度(DOF)，三个自由度在每个手臂和六个自由度每英尺。

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Modeling of a humanoid robot with 18 DOF in a virtual environment

Modeling of the humanoid robot was and remains to this day an ambiguous model; several studies have been made by several approaches and methods. Some work has considered the joints of the humanoid robot like an arborescent structure, other as closed or open joint chain. Modeling methods are also different: the method of Denavit Hartenberg, the notion of modeling (father-child) uses the equation of Rodrigues and the method of state space [1]. The work presented in this article, is interested in modeling of a humanoid robot with 18 degree of freedom (DOF), three DOF in each arm and six DOF per foot.

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Second International Conference on the Innovative Computing Technology (INTECH 2012)

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