Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-25T05:45:18.909Z Has data issue: false hasContentIssue false
  • English
  • Français

Contribution to the dynamic study of humanoid robots interacting with dynamic environment

Published online by Cambridge University Press:  26 November 2004

Miomir Vukobratović ,
Veljko Potkonjak  and
Aleksandar Rodić
Miomir Vukobratović
Affiliation:
Mihajlo Pupin Institute, Robotics department, Volgina 15, 11060 Belgrade (Serbia & Montenegro). E-mail: [email protected].
Veljko Potkonjak
Affiliation:
University of Belgrade, Faculty of Electrical engineering, Bulevar Kralja Aleksandra 73, 11000 Belgrade (Serbia & Montenegro).
Aleksandar Rodić
Affiliation:
Mihajlo Pupin Institute, Robotics department, Volgina 15, 11060 Belgrade (Serbia & Montenegro). E-mail: [email protected].
Get access Rights & Permissions [Opens in a new window]

Abstract

The questions when and why one needs to use mathematical models, and especially the models of dynamics, represent still an unresolved issue. A general answer would be that dynamic modelling is needed as a tool when designing structure of the system and its control unit. In this case we talk about simulation. The other application is in on-line control of the system – the so-called dynamic control. While in simulation one generally uses the best available model, the control can be based on a reduced dynamics, depending on a particular task. The aim of this paper was to highlight the problems important for the dynamics of humanoids and their dynamic environment.

Keywords

Biped mechanismsDynamic balanceZero-Moment Point.
Type
Research Article
Information
Robotica , Volume 22 , Issue 4 , August 2004 , pp. 439 - 447
Copyright
2004 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)