Antoska-Knights, Vesna and Potkonjak, Veljko and J. Stankovski, Mile and Baščarević, Nenad (2012) ROBUSTNESS OF SEMI-HUMANOID ROBOT POSTURE WITH RESPECT TO EXTERNAL DISTURBANCES. Facta universitatis-series: Automatic Control and Robotics.
Full text not available from this repository.Abstract
This paper applies sophisticated methods developed for mathematical modeling of
semi humanoid robot (driven robot) to real motions, particularly in posture stabilization for
different situation. A general simulation system is realized: following deductive principle, i.e.
to start from a completely general model applicable to a set of tasks. Such a model is further
adjusted according to need certain specific situations. Simulation is applied to a problem
which is important for semi-humanoid robot, namely the stabilization of posture being
subject to different disturbances. To ensure stability of the robot position, the robust control
is evaluated. Simulations are carried out and the influence of different cart movements on the
robot balance is analyzed by comparing different cases.
Key words: Semi-Humanoid Robot, Robot, Robustness, Robot Posture
| Item Type: | Article |
|---|---|
| Subjects: | Scientific Fields (Frascati) > Natural sciences > Mathematics |
| Divisions: | Faculty of Technology and Technical Sciences |
| Depositing User: | Mr Jordan Martinovski |
| Date Deposited: | 23 Nov 2019 13:04 |
| Last Modified: | 23 Nov 2019 13:04 |
| URI: | https://eprints.uklo.edu.mk/id/eprint/2069 |
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