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Proceedings Paper

Whole body motion control of the humanoid robot to generate large impact energy
Author(s): Sunghwan Chon; Samsu Lim; Kyumann Im; Woonchul Ham
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Paper Abstract

This paper discussed the whole body cooperated work to generate large impact energy which is generated by arm when hit a wall. The maximum power of arm of the humanoid robot is lower than that of leg. But humanoid robot can generate more impact power by whole body cooperated motion than only used a arm. The humanoid robot falls easily down by force of the repulsion of the impact energy. But the robot can generate much of the impact energy by the stabilization of the ZMP. This paper discussed not only a relationship between the stabilization of the ZMP and the impact energy, but also a relationship between the whole bodies cooperated force control and impact energy.

Paper Details

Date Published: 2 May 2006
PDF: 5 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423W (2 May 2006); doi: 10.1117/12.664786
Show Author Affiliations
Sunghwan Chon, Chonbuk National Univ. (South Korea)
Samsu Lim, Chonbuk National Univ. (South Korea)
Kyumann Im, Chodan Univ. (South Korea)
Woonchul Ham, Chonbuk National Univ. (South Korea)

Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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