TY - GEN
T1 - A new 12 DOF biped robot's mechanical design and kinematic analysis
AU - Sun, Fei
AU - Ju, He Hua
AU - Cui, Ping Yuan
PY - 2011
Y1 - 2011
N2 - This paper decribes the progress of an humanoid biped robot project and mainly focuses on its mechanical design and kinematics analysis. This project, which started in 2009, is aiming at the realization of the lower part of an humanoid biped robot. As the first step to finish the biped robot's overall development, a novel mechanical structure was designed with two legs, two feet and a pelvis. It has 12 degrees of freedom. The robot's body shape and mass distribution is similar to that of an adult with the purpose to get an ideal stable walking movement. In this paper, first we discuss the robot's basic configuration, joints structure, transmitters, and sensors, second an approach to the analysis of one leg's forward kinematics and inverse kinematics is introduced.
AB - This paper decribes the progress of an humanoid biped robot project and mainly focuses on its mechanical design and kinematics analysis. This project, which started in 2009, is aiming at the realization of the lower part of an humanoid biped robot. As the first step to finish the biped robot's overall development, a novel mechanical structure was designed with two legs, two feet and a pelvis. It has 12 degrees of freedom. The robot's body shape and mass distribution is similar to that of an adult with the purpose to get an ideal stable walking movement. In this paper, first we discuss the robot's basic configuration, joints structure, transmitters, and sensors, second an approach to the analysis of one leg's forward kinematics and inverse kinematics is introduced.
KW - Biped Robot
KW - Kinematic analysis
KW - Mechanical Design
UR - https://www.scopus.com/pages/publications/80053427906
U2 - 10.1109/EMEIT.2011.6023592
DO - 10.1109/EMEIT.2011.6023592
M3 - Conference contribution
AN - SCOPUS:80053427906
SN - 9781612840857
T3 - Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011
SP - 2396
EP - 2400
BT - Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011
T2 - 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011
Y2 - 12 August 2011 through 14 August 2011
ER -