@inproceedings{7792d03bf7b044e795851210d01d2f04,
title = "Mechanical design and balance control of a humanoid waist joint",
abstract = "A waist joint is designed for a humanoid robot in this paper, which has the characteristics of a large range of motion and high mechanical strength. A new method of balance control based on waist joints is also provided. It can effectively increase the stability margin during single support phase. We have been developing BHR, which has 38 DOF (degree of freedom). Each arm of BHR has 11 DOF in total that amounts to 3 DOF/shoulder, 2 DOF/elbow, 5 DOF/hand and 1 DOF/wrist. Each leg constitutes 6 DOF. Head constitutes 2 DOF, and trunk has 2 DOF. Its waist joints are designed to produce both swing and rotation movements. The effectiveness of the method on balance control is conducted by simulation and walking experiments on BHR.",
keywords = "BHR, Balance control, Humanoid robot, Waist joint",
author = "Wei Xu and Qiang Huang and Jing Li and Zhangguo Yu and Xuechao Chen and Jiayu Liu and Weimin Zhang",
year = "2010",
doi = "10.1109/ICAL.2010.5585290",
language = "English",
isbn = "9781424483754",
series = "2010 IEEE International Conference on Automation and Logistics, ICAL 2010",
pages = "249--254",
booktitle = "2010 IEEE International Conference on Automation and Logistics, ICAL 2010",
note = "2010 IEEE International Conference on Automation and Logistics, ICAL 2010 ; Conference date: 16-08-2010 Through 20-08-2010",
}