Dynamic Analysis of the Biped Ice-skater Robot of Passive Wheel Type

作     者：徐子力 吕恬生 田华 徐振华 宋立博 

作者机构：School of Mechanical Engineering Shanghai Jiaotong University Hewlett-Packard Technology Shanghai Co.Ltd. 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2008年第13卷第1期

页      面：122-128页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：动态分析法 机器人 自动化技术 计算机技术 

摘      要：A new passive wheel type of biped ice-skater robot (BISR) subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer.