Classification of sitting states for the humanoid robot SJTU-HR1

Yang, Jialun; Gao, Feng

doi:10.1016/s1672-6529(11)60005-x

Cited by 6 publications

(1 citation statement)

References 15 publications

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“…Therefore there has been an increasing interest for the hybrid humanoid robot arm. A 7-DOF hybrid humanoid robot arm has been presented by professor Liu of Tsinghua University [5]; a 6-DOF humanoid arm has been designed by professor Jin of Yanshan University [6]; besides, Shanghai Jiaotong University professor Gao Feng has proposed a series-parallel structure humanoid with a 7-DOF redundancy arm [7]. However, most of these researches emphasize the synthesis of mechanisms and the analysis of the position; but there is little literature on dynamic analysis and control [8].…”

Section: Introductionmentioning

confidence: 99%

The Application of Adaptive Backstepping Sliding Mode for Hybrid Humanoid Robot Arm Trajectory Tracking Control

Qin

Liu

Liang

2014

Advances in Mechanical Engineering

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This paper presents a methodology of the dynamic analysis and control for a novel hybrid humanoid robot arm. The hybrid humanoid robot arm under consideration consists of a spherical parallel manipulator (SPM) connecting two revolute pairs in series form. The dynamic model of the hybrid humanoid robot arm has been set up based on the Lie group and Lie algebra combined with the principle of virtual work, which can avoid the processing of constraint reaction and the division of logic open chains, as well as a great quantity of differential operation. Aiming at the parameter uncertainties and disturbances, an adaptive backstepping sliding mode controller is developed. Compared with PD control in trajectory tracking simulation, the results show the advantage of the controller.

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Section: Introductionmentioning

confidence: 99%