TY - GEN
T1 - Humanoid climbing robot modeling in matlab-simechanics
AU - Dung, Nguyen Anh
AU - Shimada, Akira
PY - 2013/12/1
Y1 - 2013/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84893580621&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2013.6699803
DO - 10.1109/IECON.2013.6699803
M3 - Conference contribution
AN - SCOPUS:84893580621
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4162
EP - 4167
BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Y2 - 10 November 2013 through 14 November 2013
ER -