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Effect Analysis of the CM Position on Posture of the Biped Robot | IEEE Conference Publication | IEEE Xplore

Effect Analysis of the CM Position on Posture of the Biped Robot


Abstract:

This paper analyzes the effect of the CM (center of mass) position on the posture angles of the trunk and provides mass distribution principles of the biped robot. Firstl...Show More

Abstract:

This paper analyzes the effect of the CM (center of mass) position on the posture angles of the trunk and provides mass distribution principles of the biped robot. Firstly, a hydraulic actuated biped robot lower limb with payload capacity is chosen as the research object, which could realize omnidirectional movement. Secondly, a joint motion related CM position calculation method is provided. Thirdly, the effect of the CM position on the posture angles of the biped robot trunk is analyzed in ADAMS environment. Finally, mass distribution principles are provided based on the simulation analysis.
Date of Conference: 11-13 August 2018
Date Added to IEEE Xplore: 26 August 2019
ISBN Information:
Conference Location: Wuyishan, China

References

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