Yaw Moment Compensation for Humanoid Robot via Arms Swinging
نویسندگان
چکیده
منابع مشابه
Yaw Moment Compensation for Humanoid Robot via Arms Swinging
This paper investigates the problems of the z-axis dynamic balance and high energy consumption in practical application of humanoid robot. Considering z-axis dynamic balance conditions, a novel yaw moment compensation solution based on arms-swinging is proposed by computing the optimal arms-swinging trajectories to counteract the yaw moment caused by the movement of humanoid robot. Given the op...
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ژورنال
عنوان ژورنال: The Open Automation and Control Systems Journal
سال: 2014
ISSN: 1874-4443
DOI: 10.2174/1874444301406011371