DYNAMICS AND CONTROL OF COLLISION OF MULTI-LINK HUMANOID ROBOTS WITH A RIGID OR ELASTIC OBJECT

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" DYNAMICS AND CONTROL OF COLLISION OF MULTI-LINK HUMANOID ROBOTS WITH A RIGID OR ELASTIC OBJECT "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	150122
Doc. No	:	ET21914
Main Entry	:	Zengshi Chen, B.Eng, M.S.
Title Proper	:	DYNAMICS AND CONTROL OF COLLISION OF MULTI-LINK HUMANOID ROBOTS WITH A RIGID OR ELASTIC OBJECT
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	The main objective of this dissertation is to understand how the humanoid organ-isms or machines use appropriate control strategies and reference motions to achievethe desirable collision responses such as the contact time, the contact forces, the de-parture velocities of two colliding subjects and the physical deformation. Thereby,the collision of a subject with a rigid object such as a .at ground or a soft object suchas a soccer ball is modeled and studied. Collision is a challenging task and involvescoupling, motion planning, dynamics and controls.In particular, we are interested in the collision of a humanoid organism with aground in the step stance. This collision involves the interaction between the tworigid objects. The equations of motion of a .ve-link three-dimensional subject em-bedded in a space larger than the joint space of the system are developed by sequentialelimination, orthogonality of the spaces and virtual work mechanism, and then are,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL45108.pdf
Title and statement of responsibility and	:	DYNAMICS AND CONTROL OF COLLISION OF MULTI-LINK HUMANOID ROBOTS WITH A RIGID OR ELASTIC OBJECT [Thesis]