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- Title
RECONFIGURABLE DOUBLE INVERTED PENDULUM APPLIED TO THE MODELLING OF HUMANOID ROBOT MOTION.
- Authors
Żurawska, Magdalena Sylwia; Szumowski, Maksymilian; Zielińska, Teresa
- Abstract
A simplified model of a human body is proposed. Model is built according to anthropomorphic data. Basic movements (gait and run) are analysed, center of mass trajectories for upper and lower part of the body were calculated. Analysis of the center of mass trajectories in terms of correlation coefficient is done. This proves the concept of the influence of arm movements over the whole body movement. Non-dimensional analysis was done, in terms of relation between appropriate pendulum’s lean and the normalised position of pendulum’s mass.
- Subjects
HUMANOID robots; HUMAN mechanics; CENTER of mass
- Publication
Journal of Automation, Mobile Robotics & Intelligent Systems, 2017, Vol 11, Issue 2, p12
- ISSN
1897-8649
- Publication type
Article
- DOI
10.14313/JAMRIS_2-2017/12