Kinematics analysis and motion planning of a humanoid leg with 7DOF and double spherical hip joint

Zhou Zhang; Qiang Huang; Guang Ri Li; Yu Can Zhao; Wei Min Zhang

Kinematics analysis and motion planning of a humanoid leg with 7DOF and double spherical hip joint

Zhou Zhang^*, Qiang Huang, Guang Ri Li, Yu Can Zhao, Wei Min Zhang

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

A new leg mechanism with 7 DOF (degrees of freedom) and double spherical hip joint is proposed in this paper. Comparing with traditional 6 DOF biped mechanisms, it has the following two advantages. First, the double spherical joint can realize the basic function of waist motion without waist joint, enabling the humanoid robot to walk erectly. Secondly, if positions of the foot and waist are given, it can rotate the legs in a manner similar to human. This paper also discusses such problems of this complex mechanism as motion characteristic analysis, kinematics solution, motion planning, and validation experiments.

Original language	English
Pages (from-to)	558-562+568
Journal	Jiqiren/Robot
Volume	29
Issue number	6
Publication status	Published - Nov 2007

Keywords

7 DOF
Double spherical hip joint
Humanoid robot

Cite this

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title = "Kinematics analysis and motion planning of a humanoid leg with 7DOF and double spherical hip joint",

abstract = "A new leg mechanism with 7 DOF (degrees of freedom) and double spherical hip joint is proposed in this paper. Comparing with traditional 6 DOF biped mechanisms, it has the following two advantages. First, the double spherical joint can realize the basic function of waist motion without waist joint, enabling the humanoid robot to walk erectly. Secondly, if positions of the foot and waist are given, it can rotate the legs in a manner similar to human. This paper also discusses such problems of this complex mechanism as motion characteristic analysis, kinematics solution, motion planning, and validation experiments.",

keywords = "7 DOF, Double spherical hip joint, Humanoid robot",

author = "Zhou Zhang and Qiang Huang and Li, {Guang Ri} and Zhao, {Yu Can} and Zhang, {Wei Min}",

year = "2007",

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AU - Zhang, Zhou

AU - Huang, Qiang

AU - Li, Guang Ri

AU - Zhao, Yu Can

AU - Zhang, Wei Min

PY - 2007/11

Y1 - 2007/11

N2 - A new leg mechanism with 7 DOF (degrees of freedom) and double spherical hip joint is proposed in this paper. Comparing with traditional 6 DOF biped mechanisms, it has the following two advantages. First, the double spherical joint can realize the basic function of waist motion without waist joint, enabling the humanoid robot to walk erectly. Secondly, if positions of the foot and waist are given, it can rotate the legs in a manner similar to human. This paper also discusses such problems of this complex mechanism as motion characteristic analysis, kinematics solution, motion planning, and validation experiments.

AB - A new leg mechanism with 7 DOF (degrees of freedom) and double spherical hip joint is proposed in this paper. Comparing with traditional 6 DOF biped mechanisms, it has the following two advantages. First, the double spherical joint can realize the basic function of waist motion without waist joint, enabling the humanoid robot to walk erectly. Secondly, if positions of the foot and waist are given, it can rotate the legs in a manner similar to human. This paper also discusses such problems of this complex mechanism as motion characteristic analysis, kinematics solution, motion planning, and validation experiments.

KW - 7 DOF

KW - Double spherical hip joint

KW - Humanoid robot

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M3 - Article

AN - SCOPUS:36549073142

SN - 1002-0446

VL - 29

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JO - Jiqiren/Robot

JF - Jiqiren/Robot

IS - 6

ER -

Kinematics analysis and motion planning of a humanoid leg with 7DOF and double spherical hip joint

Abstract

Keywords

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