Control of a Step Walking Combined to Arms Swinging for a Three Dimensional Humanoid Prototype | Science Publications

Journal of Computer Science

Olfa Boubaker¹  Amira Aloulou¹ 

关键词: Human morphology;    humanoid robot;    three dimensional modeling;    motion control;   

DOI  :  10.3844/jcssp.2010.886.895

学科分类：计算机科学（综合）

来源: Science Publications

【 摘 要 】

Problem statement: Present researches focus to make humanoid robots more and more autonomous so they can assist human in daily works like taking care of children, aged or disabled persons. In such social activities, the contemporary humanoid robots are expected to have human like morphology and gait. Studies on bipedal locomotion for humanoid robots are then part of the hottest topics in the field of robotic researches. Knowing the benefits of arm swinging for human gait, we propose in this study a new prototype of female humanoid robot morphology having the capabilities to swing arms during step walking. Approach: A new humanoid robot prototype had been introduced based on a human morphology corresponding to a woman whose weight is 70 kg and height is 1,73 m and using realistic gait parameters of a women. The female humanoid robot prototype was composed of fifteen links associated to twenty-six degrees of freedom. Winter statistical model had been applied to determine all physical parameters corresponding to each link. Modeling the proposed humanoid robot implies first to establish the kinematic model basically founded on Euler

【 授权许可】

Unknown