Humanoid climbing robot modeling in matlab-simechanics

Nguyen Anh Dung, Akira Shimada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This research is undertaken to improve technologies that enable the design and implementation of a humanoid robot able to climb vertical natural terrain. Humanoid climbing robot (HC Robot) is designed to climb up a climbing wall totally autonomously, and it is expected to be useful to rescue in disaster area. It seems more difficult to analyze the dynamic character of humanoid climbing robot because of the complexity of mathematical description. Therefore, this paper starts with climbing technique analysis. After that, a rudimentary analysis of mechanical structure and kinematics of HC robot is shown. Secondly, a 3D humanoid climbing robot is built and simulated in Matlab-Simscape environment, and next, this model is used to perform statics and dynamics motions as some basic climbing motions.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages4162-4167
Number of pages6
DOIs
Publication statusPublished - 2013
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna
Duration: 2013 Nov 102013 Nov 14

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CityVienna
Period13/11/1013/11/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Dung, N. A., & Shimada, A. (2013). Humanoid climbing robot modeling in matlab-simechanics. In IECON Proceedings (Industrial Electronics Conference) (pp. 4162-4167). [6699803] https://doi.org/10.1109/IECON.2013.6699803