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Contribution to the dynamic study of humanoid robots interacting with dynamic environment

Published online by Cambridge University Press:  26 November 2004

Miomir Vukobratović ,
Veljko Potkonjak  and
Aleksandar Rodić
Miomir Vukobratović
Affiliation:
Mihajlo Pupin Institute, Robotics department, Volgina 15, 11060 Belgrade (Serbia & Montenegro). E-mail: vuk@robot.imp.bg.ac.yu.
Veljko Potkonjak
Affiliation:
University of Belgrade, Faculty of Electrical engineering, Bulevar Kralja Aleksandra 73, 11000 Belgrade (Serbia & Montenegro).
Aleksandar Rodić
Affiliation:
Mihajlo Pupin Institute, Robotics department, Volgina 15, 11060 Belgrade (Serbia & Montenegro). E-mail: vuk@robot.imp.bg.ac.yu.
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Abstract

The questions when and why one needs to use mathematical models, and especially the models of dynamics, represent still an unresolved issue. A general answer would be that dynamic modelling is needed as a tool when designing structure of the system and its control unit. In this case we talk about simulation. The other application is in on-line control of the system – the so-called dynamic control. While in simulation one generally uses the best available model, the control can be based on a reduced dynamics, depending on a particular task. The aim of this paper was to highlight the problems important for the dynamics of humanoids and their dynamic environment.

Keywords

Biped mechanismsDynamic balanceZero-Moment Point.
Type
Research Article
Information
Robotica , Volume 22 , Issue 4 , August 2004 , pp. 439 - 447
Copyright
2004 Cambridge University Press

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