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http://dx.doi.org/10.5302/J.ICROS.2004.10.3.267

Swing Motion of Miniaturized Humanoid Robot  

이수영 (전북대학교 전자정보공학부)
정길도 (전북대학교 전자정보공학부)
성영휘 (금오공과대학교 전자공학과)
박성훈 (전북대학교 제어계측공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.3, 2004 , pp. 267-272 More about this Journal
Abstract
In this Paper, we present analysis on the dynamics of human swing and its realization by a miniaturized humanoid robot. Since the motion of legs is the most important in the swing, the swing system can be approximated as a double pendulum. Based on Lagrangian analysis, the leg motion is designed to make the swing motion as sustained oscillation. In order to detect the peak instant of the swing and to synchronize the leg motion with the swing, we use ADXL acceleration/inclination sensor. The miniaturized humanoid in this paper has total 20 DOFs including 6 DOFs in each leg, 34cm in height, and 2kg in weight. As a result of realization of the swing by the humanoid, the sustained oscillation is verified through experiments.
Keywords
swing motion; lagrangian analysis; ADXL; acceleration/inclination sensor; miniaturized humanoid;
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Times Cited By KSCI : 1  (Citation Analysis)
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