Dynamics based modeling of wheeled platform for humanoid robot torso

Abstract

From the ancient mythology till the modern times, people were trying to build an artificial mechanical replica of themselves. Inspired by this long tradition of various engineering projects, we will hereby describe a partly humanoid robotic structure. Our robotic configuration is composed out of an anthropomimetic upper body, but instead of legs it uses a wheeled cart for the motion. In our research, this so-called semi-anthropomimetic structure has a four-wheeled cart. This work is aiming to analyze the behaviour of the robot that is exposed to different kind of external disturbances. Disturbances coming from the outside in the form of external forces (impulse and long term) simulate the interactions of the robot and its ambience. Necessary simulations were thoroughly executed (in that way analyzing robotic balance) and proper size of the cart is evaluated following the ZMP theoretical background. [Projekat Ministarstva nauke Republike Srbije, br. TR-35003 i br. III-44008]

Modeling of a wheeled humanoid robot and hybrid algorithm-based path planning of wheel base for the dynamic obstacles avoidance

“…The robot configuration space is restricted for reducing the computational complexity. Modeling and synthesis of a mobile platform for carrying upper body humanoid robot is carried out by Petrović et al (2016). The dimensions of the wheeled platform is finalized by using a zero moment point-based method.…”