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Kinematic analysis of a humanoid robot CHP-1 and selection of motors in consideration of cooperative motion

Journal of Central South University 2012年第11期19卷 3094-3099页

作者： KIM Do-un HWANG Sang-wook KANG Hyo-jung HONG Dae Sun School of Mechatronics Changwon National UniversityChangwon 641-773Korea

A lower-part humanoid robot CHP-1 with 12 degree-of-freedom of motion has been developed for cooperative motion,such as pushing or lifting an *** capability of the robot is mainly dependent on the performance of the motors,thus the motors need to be properly *** the purpose,the kinematics of the robot was analyzed,and a number of simulations for two kinds of cooperative motions were carried *** torques required at each motor of the robot under external forces were ***,the external forces were also estimated through simulation and literature *** the basis of the torques found,the selection of motors was finally suggested,and the motors are to be installed to the humanoid robot.

关键词： humanoid robot motor selection cooperative motion kinematics

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A Comprehensive Review of Path Planning Algorithms for Autonomous Underwater Vehicles

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International Journal of Automation and computing 2020年第3期17卷 321-352页

作者： Madhusmita Panda Bikramaditya Das Bidyadhar Subudhi Bibhuti Bhusan Pati Department of Electronics and Telecommunication Veer Surendra Sai University of TechnologyBurla 768018India School of Electrical Sciences Indian Institute of TechnologyGoa 403401India Department of Electrical Engineering Veer Surendra Sai University of TecnlogyBurla 768018India

The underwater path planning problem deals with finding an optimal or sub-optimal route between an origin point and a termination point in marine *** underwater environment is still considered as a great challenge for the path planning of autonomous underwater vehicles(AUVs)because of its hostile and dynamic *** major constraints for path planning are limited data transmission capability,power and sensing technology available for underwater *** sea environment is subjected to a large set of challenging factors classified as atmospheric,coastal and *** on whether the impact of these factors can be approximated or not,the underwater environment can be characterized as predictable and unpredictable *** classical path planning algorithms based on artificial intelligence assume that environmental conditions are known apriori to the path *** the current path planning algorithms involve continual interaction with the environment considering the environment as dynamic and its effect cannot be *** planning is necessary for many applications involving *** are based upon planning safety routes with minimum energy cost and computation *** review is intended to summarize various path planning strategies for AUVs on the basis of characterization of underwater environments as predictable and *** algorithms employed in path planning of single AUV and multiple AUVs are reviewed in the light of predictable and unpredictable environments.

关键词： Autonomous underwater vehicle(AUV) cooperative motion formation control optimization path planning(PP)

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