DEVELOPMENT OF A WAIST MECHANISM WITH FUNCTION OF VERYING THE JOINT STIFFNESS FOR MOBILE HUMANOID ROBOT

Abstract

Abstract: The mobile humanoid robot is designed for stud- ying humanoid robot technology. It has human-like upper body configuration of a head, two arms, a waist, a trunk and a mobile platform.The waist of humanoid robot plays an important role on the kinematics and dynamics property of the whole body. Problems of the humanoid robot waist is described, a flexible waist that could vary the joint stiffness is presented. The influence of this waist on the compliant characteristics of the whole body is studied. This waist can stabilize the humanoid robot by performing the waist and the arms dynamic cooperative motion and realize security by varying the joint stiffness while operating. The model method of the mechanical systems kinematics, dynamics and stiffness is developed.

Key words: Humanoid robot, Stiffness, Waist

CLC Number:

TP24

Zhao Tiejun;Tan Dalong;Zhao Mingyang;Wu Zhenwei;Liu Hongjun. DEVELOPMENT OF A WAIST MECHANISM WITH FUNCTION OF VERYING THE JOINT STIFFNESS FOR MOBILE HUMANOID ROBOT[J]. , 2004, 40(7): 132-135.

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DEVELOPMENT OF A WAIST MECHANISM WITH FUNCTION OF VERYING THE JOINT STIFFNESS FOR MOBILE HUMANOID ROBOT

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