Abstract
This paper deals with the study of the stabilization of a robot subjected to external disturbances. Initially the stabilization is carried out with a trunk having 4 dofs (degrees of freedom), three translations and one rotation (design of robot ROBIAN). In the second time the stabilization is performed with a system with arms and having 10 dofs. At first, for a vertical posture of the robot, the trunk bodies of ROBIAN are used to compensate the external three-dimensional efforts applied to the robot. The study is based on the General State Equation formalism (GSE). During the simulation, this study allows us to determine on-line, the required movements and accelerations of the trunk bodies in order to maintain the robot stability. In the following stage, we study the required movements of a system which is made up of a trunk and two arms in order to ensure the robot stability in presence of disturbances or during a handling of an object. The same formalism is selected to study the dynamics of the new upper part of the robot. This study shows the importance of the arms for the robot stability.
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© 2006 Springer-Verlag Berlin Heidelberg
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Zaoui, C., Bruneau, O., Ouezdou, F.B., Maalej, A. (2006). Simulations of the Dynamic Behavior of a Bipedal Robot with Torso Subjected to External Eisturbances. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_103
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DOI: https://doi.org/10.1007/3-540-26415-9_103
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
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