A study on joint compliance for a biped robot
Dynamic simulations are often used to design mechanisms and to develop control algorithms for stable walking of the humanoid robot. For accurate dynamic simulations, the flexible compliances at the joints of the humanoid robot must be considered in the computer simulation model. In this paper a meth...
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Tagungsbericht |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 312 |
|---|---|
| container_issue | |
| container_start_page | 307 |
| container_title | |
| container_volume | |
| creator | Ki-Joo Lee Hong Jae Yim Siyoul Jang |
| description | Dynamic simulations are often used to design mechanisms and to develop control algorithms for stable walking of the humanoid robot. For accurate dynamic simulations, the flexible compliances at the joints of the humanoid robot must be considered in the computer simulation model. In this paper a method to identify the proper compliances among the joints is presented. Dynamic simulations with the proposed method are compared with the test results |
| doi_str_mv | 10.1109/ICHR.2005.1573585 |
| format | Conference Proceeding |
| fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_1573585</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>1573585</ieee_id><sourcerecordid>1573585</sourcerecordid><originalsourceid>FETCH-LOGICAL-i175t-464eb801efa23368615cbb24a6559bc7a46be1dc35cc2255ede2c8c6dc1d6e293</originalsourceid><addsrcrecordid>eNotz01qwzAQQGFBW2ia5gClG13AzozkkeVlMG0TCBRKsg76GYNCYhnbXeT2XTSrt_vgCfGGUCJCs961259SAVCJVGuy9CBeoLagG60AH8VCoakKoFo9i9U0nQFAo7WNMgtRbOQ0_8abzL0859TPMuTrcEmuDyy7PEonfRo4yjH7PL-Kp85dJl7duxTHz49Duy3231-7drMvEtY0F5Wp2FtA7pzS2liDFLxXlTNEjQ-1q4xnjEFTCEoRcWQVbDAxYDSsGr0U7_9uYubTMKarG2-n-53-A0mLQkI</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>A study on joint compliance for a biped robot</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Ki-Joo Lee ; Hong Jae Yim ; Siyoul Jang</creator><creatorcontrib>Ki-Joo Lee ; Hong Jae Yim ; Siyoul Jang</creatorcontrib><description>Dynamic simulations are often used to design mechanisms and to develop control algorithms for stable walking of the humanoid robot. For accurate dynamic simulations, the flexible compliances at the joints of the humanoid robot must be considered in the computer simulation model. In this paper a method to identify the proper compliances among the joints is presented. Dynamic simulations with the proposed method are compared with the test results</description><identifier>ISSN: 2164-0572</identifier><identifier>ISBN: 0780393201</identifier><identifier>ISBN: 9780780393202</identifier><identifier>DOI: 10.1109/ICHR.2005.1573585</identifier><language>eng</language><publisher>IEEE</publisher><subject>Actuators ; Automotive engineering ; Computational modeling ; Computer simulation ; Damping ; Humanoid robots ; Kinematics ; Legged locomotion ; Nonlinear dynamical systems ; Vehicle dynamics</subject><ispartof>5th IEEE-RAS International Conference on Humanoid Robots, 2005, 2005, p.307-312</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1573585$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,4036,4037,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1573585$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Ki-Joo Lee</creatorcontrib><creatorcontrib>Hong Jae Yim</creatorcontrib><creatorcontrib>Siyoul Jang</creatorcontrib><title>A study on joint compliance for a biped robot</title><title>5th IEEE-RAS International Conference on Humanoid Robots, 2005</title><addtitle>ICHR</addtitle><description>Dynamic simulations are often used to design mechanisms and to develop control algorithms for stable walking of the humanoid robot. For accurate dynamic simulations, the flexible compliances at the joints of the humanoid robot must be considered in the computer simulation model. In this paper a method to identify the proper compliances among the joints is presented. Dynamic simulations with the proposed method are compared with the test results</description><subject>Actuators</subject><subject>Automotive engineering</subject><subject>Computational modeling</subject><subject>Computer simulation</subject><subject>Damping</subject><subject>Humanoid robots</subject><subject>Kinematics</subject><subject>Legged locomotion</subject><subject>Nonlinear dynamical systems</subject><subject>Vehicle dynamics</subject><issn>2164-0572</issn><isbn>0780393201</isbn><isbn>9780780393202</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2005</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotz01qwzAQQGFBW2ia5gClG13AzozkkeVlMG0TCBRKsg76GYNCYhnbXeT2XTSrt_vgCfGGUCJCs961259SAVCJVGuy9CBeoLagG60AH8VCoakKoFo9i9U0nQFAo7WNMgtRbOQ0_8abzL0859TPMuTrcEmuDyy7PEonfRo4yjH7PL-Kp85dJl7duxTHz49Duy3231-7drMvEtY0F5Wp2FtA7pzS2liDFLxXlTNEjQ-1q4xnjEFTCEoRcWQVbDAxYDSsGr0U7_9uYubTMKarG2-n-53-A0mLQkI</recordid><startdate>2005</startdate><enddate>2005</enddate><creator>Ki-Joo Lee</creator><creator>Hong Jae Yim</creator><creator>Siyoul Jang</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2005</creationdate><title>A study on joint compliance for a biped robot</title><author>Ki-Joo Lee ; Hong Jae Yim ; Siyoul Jang</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-464eb801efa23368615cbb24a6559bc7a46be1dc35cc2255ede2c8c6dc1d6e293</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Actuators</topic><topic>Automotive engineering</topic><topic>Computational modeling</topic><topic>Computer simulation</topic><topic>Damping</topic><topic>Humanoid robots</topic><topic>Kinematics</topic><topic>Legged locomotion</topic><topic>Nonlinear dynamical systems</topic><topic>Vehicle dynamics</topic><toplevel>online_resources</toplevel><creatorcontrib>Ki-Joo Lee</creatorcontrib><creatorcontrib>Hong Jae Yim</creatorcontrib><creatorcontrib>Siyoul Jang</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ki-Joo Lee</au><au>Hong Jae Yim</au><au>Siyoul Jang</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A study on joint compliance for a biped robot</atitle><btitle>5th IEEE-RAS International Conference on Humanoid Robots, 2005</btitle><stitle>ICHR</stitle><date>2005</date><risdate>2005</risdate><spage>307</spage><epage>312</epage><pages>307-312</pages><issn>2164-0572</issn><isbn>0780393201</isbn><isbn>9780780393202</isbn><abstract>Dynamic simulations are often used to design mechanisms and to develop control algorithms for stable walking of the humanoid robot. For accurate dynamic simulations, the flexible compliances at the joints of the humanoid robot must be considered in the computer simulation model. In this paper a method to identify the proper compliances among the joints is presented. Dynamic simulations with the proposed method are compared with the test results</abstract><pub>IEEE</pub><doi>10.1109/ICHR.2005.1573585</doi><tpages>6</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 2164-0572 |
| ispartof | 5th IEEE-RAS International Conference on Humanoid Robots, 2005, 2005, p.307-312 |
| issn | 2164-0572 |
| language | eng |
| recordid | cdi_ieee_primary_1573585 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Automotive engineering Computational modeling Computer simulation Damping Humanoid robots Kinematics Legged locomotion Nonlinear dynamical systems Vehicle dynamics |
| title | A study on joint compliance for a biped robot |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-03T07%3A23%3A42IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=A%20study%20on%20joint%20compliance%20for%20a%20biped%20robot&rft.btitle=5th%20IEEE-RAS%20International%20Conference%20on%20Humanoid%20Robots,%202005&rft.au=Ki-Joo%20Lee&rft.date=2005&rft.spage=307&rft.epage=312&rft.pages=307-312&rft.issn=2164-0572&rft.isbn=0780393201&rft.isbn_list=9780780393202&rft_id=info:doi/10.1109/ICHR.2005.1573585&rft_dat=%3Cieee_6IE%3E1573585%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=1573585&rfr_iscdi=true |