例 1 :盛り合わせ 小型ヒューマノイドロボット
DESCRIPTION
B 0 = Base-link B 1 to B 6 = right leg B 7 to B 12 = left leg B 13 to B 16 = right arm B 17 to B 20 = left arm. 例 1 :盛り合わせ 小型ヒューマノイドロボット. 例 1 :盛り合わせ 小型ヒューマノイドロボット. Arms of small dimensions - PowerPoint PPT PresentationTRANSCRIPT
例1:盛り合わせ小型ヒューマノイドロボット
B0 = Base-link B1 to B6 = right leg B7 to B12 = left leg B13 to B16 = right arm B17 to B20 = left arm
Size 540[mm]
Mass 8.0[Kg]
Nb of links 21
Nb of DOF 26 (7/leg, 4/arm)
例1:盛り合わせ小型ヒューマノイドロボット
Arms of small dimensions
Associated inertial parameters small and difficult to estimate with respect to the sensors resolution
To avoid this lack of information: upper limbs fixed in a
pose Links B13 to B20 attached
to based-link B0 94 base parameters to
identify