Year-end Sale % OFF 
Abstract
The idea of building an artificial man extends through the entire history of mankind. In this paper we present a semi-anthropomimetic robot, as a structure that consists of an upper human-like body mounted on a cart (mobile platform). Semi-anthropomimetic robot uses the three-wheeled mobile platform (two driving wheels and one passive wheel). Upper body configuration is represented as an anthropomimetic structure with antagonistically coupled drives. The aim of this paper is analysis of the robot behaviour under disturbances. Two types of disturbances are examined: disturbances following from the cart motion, and external disturbances. External disturbances (external impulse and long term external force) emulate interaction of the robot with its environment. Numerous simulations were performed, in order to analyze the balance of the robot. Accordingly, appropriate dimensions of the mobile platform are estimated, relying on the ZMP concept. [Projekat Ministarstva nauke Republike Srbije, br. TR-35003 i br. III-44008] <br><br><font color="red"><b> This article has been retracted. Link to the retraction <u><a href="http://dx.doi.org/10.2298/SJEE1603435E">10.2298/SJEE1603435E</a><u></b></font>
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
