• ISSN 0258-2724
  • CN 51-1277/U
  • EI Compendex
  • Scopus
  • Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
  • Chinese S&T Journal Citation Reports
  • Chinese Science Citation Database
Volume 21 Issue 6
Dec.  2008
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Article Contents
DENG Xingqiao, WANG Jinge, FANG Chun, ZHU Weibing. Adaptive Control of Humanoid Robot Movement[J]. Journal of Southwest Jiaotong University, 2008, 21(6): 767-771.
Citation: DENG Xingqiao, WANG Jinge, FANG Chun, ZHU Weibing. Adaptive Control of Humanoid Robot Movement[J]. Journal of Southwest Jiaotong University, 2008, 21(6): 767-771.

Adaptive Control of Humanoid Robot Movement

  • Received Date: 26 Mar 2008
  • Publish Date: 25 Dec 2008
  • The dynamic and kinematic formulas were derived based on Danevit-Hartenberg coordinate transformation,and the generalized Jacobian matrix was obtained.An adaptive controller was designed to ensure the asymptotic stability of the robot system.Simulated snapshots and joint trajectories of a dancing humanoid robot were presented.The simulation results verified feasibility and effectiveness of the controller.

     

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