IEEE.org| IEEE Xplore Digital Library| IEEE Standards| IEEE Spectrum| More Sites

Cart (Loading....) | Create Account | 

Close category search window
Author Searchbeta |  Advanced Search  |  Preferences |  Search Tips  |  More Search Options  
 
Browse Conference Publications > Decision and Control, 2009 he ... Help

Motion generation for the upper body of humanoid robot

Full Text Sign-In or Purchase

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing! close button
puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Dengpeng Xing ; Shanghai Jiaotong Univ., Shanghai, China ; Jianbo Su

This paper presents two motion generation methods for the upper body of the humanoid robot in order to guarantee the equilibrium condition of the yaw moment in bipedal planning based on the ZMP convention. The reactive torque from the ground and the effect of arms swinging on robot's body locomotion are analyzed. Therefore trunk spin motion and arms swinging motion are planned to improve the motion stability of the robot, based on compensating for the yaw moment. These two methods are further compared with each other from the viewpoint of energy consumption. Simulation results evaluate the performance and the feasibility of the proposed methods.

Published in:
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference: 15-18 Dec. 2009

Page(s):
6064 - 6069
ISSN :
0191-2216
E-ISBN :
978-1-4244-3872-3
Print ISBN:
978-1-4244-3871-6
INSPEC Accession Number:
11148842
Conference Location :
Shanghai
Digital Object Identifier :
10.1109/CDC.2009.5399716
Product Type:
Conference Publications

IEEE Account

Purchase Details

Profile Information

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.