Balance Maintenance in High-Speed Motion of Humanoid Robot Arm-Based on the 6D Constraints of Momentum Change Rate

Based on the 6D constraints of momentum change rate (CMCR), this paper puts forward a real-time and full balance maintenance method for the humanoid robot during high-speed movement of its 7-DOF arm. First, the total momentum formula for the robot's two arms is given and the momentum change rat...

Descripción completa

Detalles Bibliográficos
Autores principales: Zhang, Da-song, Xiong, Rong, Wu, Jun, Chu, Jian
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi Publishing Corporation 2014
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4032757/
https://www.ncbi.nlm.nih.gov/pubmed/24883404
http://dx.doi.org/10.1155/2014/535294

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4032757/
https://www.ncbi.nlm.nih.gov/pubmed/24883404
http://dx.doi.org/10.1155/2014/535294

Ejemplares similares