We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
Research on the design and control of an anthropomorphic waist structure for life support robots.
- Authors
Li, Zufeng; Du, Lei; Ao, Wengang; Qiu, Xuan
- Abstract
In the humanoid robots, waist mechanism is an important structure to realize the whole body coordinated movement. This paper proposes a series–parallel mechanism of waist structure, and its kinematics and dynamics characteristics are studied. Based on the dynamic model, a backstepping sliding mode controller is designed to simulate control performance. Under the continuous disturbance force, the stability and accuracy of the mechanism are verified. Compared with the experiment, the results prove that the waist mechanism has the biomimetic spine movements and desired control performance, which can be applied to life support robots in the future.
- Subjects
BACKSTEPPING control method; ROBOTS; HUMANOID robots; ENGINEERING design; DYNAMIC models; ROBOT hands; KINEMATICS
- Publication
Electronics Letters (Wiley-Blackwell), 2024, Vol 60, Issue 13, p1
- ISSN
0013-5194
- Publication type
Article
- DOI
10.1049/ell2.13244