Humanoid climbing robot modeling in matlab-simechanics

Nguyen Anh Dung, Akira Shimada

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ4162-4167
ページ数6
DOI
出版ステータスPublished - 2013 12月 1
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11月 102013 11月 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Conference

Conference39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
国/地域Austria
CityVienna
Period13/11/1013/11/14

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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