Influence of external disturbances to dynamic balance of the semi-anthropomimetic robot
The idea of building an artificial man extends through the entire history of mankind. In this paper we present a semi-anthropomimetic robot, as a structure that consists of an upper human-like body mounted on a cart (mobile platform). Semi-anthropomimetic robot uses the three-wheeled mobile...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Technical Sciences in Cacak
2014-01-01
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| Series: | Serbian Journal of Electrical Engineering |
| Subjects: | |
| Online Access: | http://www.doiserbia.nb.rs/img/doi/1451-4869/2014/1451-48691400013P.pdf |
| Summary: | The idea of building an artificial man extends through the entire history of
mankind. In this paper we present a semi-anthropomimetic robot, as a
structure that consists of an upper human-like body mounted on a cart (mobile
platform). Semi-anthropomimetic robot uses the three-wheeled mobile platform
(two driving wheels and one passive wheel). Upper body configuration is
represented as an anthropomimetic structure with antagonistically coupled
drives. The aim of this paper is analysis of the robot behaviour under
disturbances. Two types of disturbances are examined: disturbances following
from the cart motion, and external disturbances. External disturbances
(external impulse and long term external force) emulate interaction of the
robot with its environment. Numerous simulations were performed, in order to
analyze the balance of the robot. Accordingly, appropriate dimensions of the
mobile platform are estimated, relying on the ZMP concept. [Projekat
Ministarstva nauke Republike Srbije, br. TR-35003 i br. III-44008] <br><br><font color="red"><b> This article has been retracted. Link to the retraction <u><a href="http://dx.doi.org/10.2298/SJEE1603435E">10.2298/SJEE1603435E</a><u></b></font> |
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| ISSN: | 1451-4869 2217-7183 |