Whole body motion control of the humanoid robot to generate large impact energy

Sunghwan Chon; Samsu Lim; Kyumann Im; Woonchul Ham

doi:10.1117/12.664786

2 May 2006 Whole body motion control of the humanoid robot to generate large impact energy

Sunghwan Chon, Samsu Lim, Kyumann Im, Woonchul Ham

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423W (2006) https://doi.org/10.1117/12.664786
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

This paper discussed the whole body cooperated work to generate large impact energy which is generated by arm when hit a wall. The maximum power of arm of the humanoid robot is lower than that of leg. But humanoid robot can generate more impact power by whole body cooperated motion than only used a arm. The humanoid robot falls easily down by force of the repulsion of the impact energy. But the robot can generate much of the impact energy by the stabilization of the ZMP. This paper discussed not only a relationship between the stabilization of the ZMP and the impact energy, but also a relationship between the whole bodies cooperated force control and impact energy.

Citation Download Citation

Sunghwan Chon, Samsu Lim, Kyumann Im, and Woonchul Ham "Whole body motion control of the humanoid robot to generate large impact energy", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423W (2 May 2006); https://doi.org/10.1117/12.664786

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available