Kinematic analysis and motion planning of a biped robot with 7-DOF and double spherical hip joint

Guangri Li; Qiang Huang; Yanping Tang; Guodong Li; Min Li

doi:10.1109/WCICA.2008.4593397

Kinematic analysis and motion planning of a biped robot with 7-DOF and double spherical hip joint

Guangri Li^*, Qiang Huang, Yanping Tang, Guodong Li^*, Min Li

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

Most of conventional biped robots without waist joint walk with bending knee joints and can't move lower limb when the position of feet and waist are fixed. This paper proposes a novel biped mechanism with 7 DOFs and double spherical hip joint, which has two advantages compared to the conventional biped mechanism. First, the double spherical joint can realize the basic function of the waist motion without waist joint, which makes it possible for the humanoid robot to walk erectly. Second, when the position of feet and waist are fixed, the robot can rotate the legs in a manner similar to that of human. In this paper, we mainly discuss the analysis of motion characteristics, kinematic solution and motion planning of the complex mechanism. And the proposed method has been validated by experiments.

Original language	English
Title of host publication	Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08
Pages	2982-2987
Number of pages	6
DOIs	https://doi.org/10.1109/WCICA.2008.4593397
Publication status	Published - 2008
Event	7th World Congress on Intelligent Control and Automation, WCICA'08 - Chongqing, China Duration: 25 Jun 2008 → 27 Jun 2008

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

Conference

Conference	7th World Congress on Intelligent Control and Automation, WCICA'08
Country/Territory	China
City	Chongqing
Period	25/06/08 → 27/06/08

Keywords

Biped robot
Double spherical hip joint
Kinematic analysis
Motion planning

Access to Document

10.1109/WCICA.2008.4593397

Cite this

Li, G., Huang, Q., Tang, Y., Li, G., & Li, M. (2008). Kinematic analysis and motion planning of a biped robot with 7-DOF and double spherical hip joint. In Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08 (pp. 2982-2987). Article 4593397 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2008.4593397

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title = "Kinematic analysis and motion planning of a biped robot with 7-DOF and double spherical hip joint",

abstract = "Most of conventional biped robots without waist joint walk with bending knee joints and can't move lower limb when the position of feet and waist are fixed. This paper proposes a novel biped mechanism with 7 DOFs and double spherical hip joint, which has two advantages compared to the conventional biped mechanism. First, the double spherical joint can realize the basic function of the waist motion without waist joint, which makes it possible for the humanoid robot to walk erectly. Second, when the position of feet and waist are fixed, the robot can rotate the legs in a manner similar to that of human. In this paper, we mainly discuss the analysis of motion characteristics, kinematic solution and motion planning of the complex mechanism. And the proposed method has been validated by experiments.",

keywords = "Biped robot, Double spherical hip joint, Kinematic analysis, Motion planning",

author = "Guangri Li and Qiang Huang and Yanping Tang and Guodong Li and Min Li",

year = "2008",

doi = "10.1109/WCICA.2008.4593397",

language = "English",

isbn = "9781424421145",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

pages = "2982--2987",

booktitle = "Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08",

note = "7th World Congress on Intelligent Control and Automation, WCICA'08 ; Conference date: 25-06-2008 Through 27-06-2008",

}

Li, G, Huang, Q, Tang, Y, Li, G & Li, M 2008, Kinematic analysis and motion planning of a biped robot with 7-DOF and double spherical hip joint. in Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08., 4593397, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), pp. 2982-2987, 7th World Congress on Intelligent Control and Automation, WCICA'08, Chongqing, China, 25/06/08. https://doi.org/10.1109/WCICA.2008.4593397

Kinematic analysis and motion planning of a biped robot with 7-DOF and double spherical hip joint. / Li, Guangri; Huang, Qiang; Tang, Yanping et al.
Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08. 2008. p. 2982-2987 4593397 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Kinematic analysis and motion planning of a biped robot with 7-DOF and double spherical hip joint

AU - Li, Guangri

AU - Huang, Qiang

AU - Tang, Yanping

AU - Li, Guodong

AU - Li, Min

PY - 2008

Y1 - 2008

N2 - Most of conventional biped robots without waist joint walk with bending knee joints and can't move lower limb when the position of feet and waist are fixed. This paper proposes a novel biped mechanism with 7 DOFs and double spherical hip joint, which has two advantages compared to the conventional biped mechanism. First, the double spherical joint can realize the basic function of the waist motion without waist joint, which makes it possible for the humanoid robot to walk erectly. Second, when the position of feet and waist are fixed, the robot can rotate the legs in a manner similar to that of human. In this paper, we mainly discuss the analysis of motion characteristics, kinematic solution and motion planning of the complex mechanism. And the proposed method has been validated by experiments.

AB - Most of conventional biped robots without waist joint walk with bending knee joints and can't move lower limb when the position of feet and waist are fixed. This paper proposes a novel biped mechanism with 7 DOFs and double spherical hip joint, which has two advantages compared to the conventional biped mechanism. First, the double spherical joint can realize the basic function of the waist motion without waist joint, which makes it possible for the humanoid robot to walk erectly. Second, when the position of feet and waist are fixed, the robot can rotate the legs in a manner similar to that of human. In this paper, we mainly discuss the analysis of motion characteristics, kinematic solution and motion planning of the complex mechanism. And the proposed method has been validated by experiments.

KW - Biped robot

KW - Double spherical hip joint

KW - Kinematic analysis

KW - Motion planning

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DO - 10.1109/WCICA.2008.4593397

M3 - Conference contribution

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SN - 9781424421145

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

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BT - Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08

T2 - 7th World Congress on Intelligent Control and Automation, WCICA'08

Y2 - 25 June 2008 through 27 June 2008

ER -

Kinematic analysis and motion planning of a biped robot with 7-DOF and double spherical hip joint

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