Kinematics analysis of a humanoid leg with redundancy freedom

Zhou Zhang; Qiang Huang; Quan Jin; Guangri Li; Weimin Zhang

doi:10.1109/ICMA.2006.257775

Kinematics analysis of a humanoid leg with redundancy freedom

Zhou Zhang^*
, Qiang Huang
, Quan Jin
, Guangri Li
, Weimin Zhang

^*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 exist humanoid legs have 6 Degrees of freedom (DOF). This paper proposes a new leg mechanism with 7 DOFs, and three DOFs in the hip, one DOF in the knee and three DOFs in the ankle. And in the hip joints, a mechanism called double spherical joint is adopted, which has six DOFs and those six axes intersect in one point. This mechanism is for humanoid hip joints with a waist joint function without increasing an actuator. And there are three degrees of freedom (DOF) in the ankle; therefore it is possible for the robot to perform multiple postures even if the positions of the hip and trunk are fixed.

Original language	English
Title of host publication	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Pages	1080-1085
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2006.257775
Publication status	Published - 2006
Event	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, China Duration: 25 Jun 2006 → 28 Jun 2006

Publication series

Name	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Volume	2006

Conference

Conference	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Country/Territory	China
City	Luoyang
Period	25/06/06 → 28/06/06

Keywords

Biped walking
Humanoid robot

Access to Document

10.1109/ICMA.2006.257775

Cite this

@inproceedings{91b00e4f36b84f1b8ec78bf0f4cf3b87,

title = "Kinematics analysis of a humanoid leg with redundancy freedom",

abstract = "Most of exist humanoid legs have 6 Degrees of freedom (DOF). This paper proposes a new leg mechanism with 7 DOFs, and three DOFs in the hip, one DOF in the knee and three DOFs in the ankle. And in the hip joints, a mechanism called double spherical joint is adopted, which has six DOFs and those six axes intersect in one point. This mechanism is for humanoid hip joints with a waist joint function without increasing an actuator. And there are three degrees of freedom (DOF) in the ankle; therefore it is possible for the robot to perform multiple postures even if the positions of the hip and trunk are fixed.",

keywords = "Biped walking, Humanoid robot",

author = "Zhou Zhang and Qiang Huang and Quan Jin and Guangri Li and Weimin Zhang",

year = "2006",

doi = "10.1109/ICMA.2006.257775",

language = "English",

isbn = "1424404665",

series = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006",

pages = "1080--1085",

booktitle = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006",

note = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 ; Conference date: 25-06-2006 Through 28-06-2006",

}

Zhang, Z, Huang, Q, Jin, Q, Li, G & Zhang, W 2006, Kinematics analysis of a humanoid leg with redundancy freedom. in 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006., 4026235, 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006, vol. 2006, pp. 1080-1085, 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006, Luoyang, China, 25/06/06. https://doi.org/10.1109/ICMA.2006.257775

Kinematics analysis of a humanoid leg with redundancy freedom. / Zhang, Zhou; Huang, Qiang; Jin, Quan et al.
2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006. 2006. p. 1080-1085 4026235 (2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006; Vol. 2006).

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

TY - GEN

T1 - Kinematics analysis of a humanoid leg with redundancy freedom

AU - Zhang, Zhou

AU - Huang, Qiang

AU - Jin, Quan

AU - Li, Guangri

AU - Zhang, Weimin

PY - 2006

Y1 - 2006

N2 - Most of exist humanoid legs have 6 Degrees of freedom (DOF). This paper proposes a new leg mechanism with 7 DOFs, and three DOFs in the hip, one DOF in the knee and three DOFs in the ankle. And in the hip joints, a mechanism called double spherical joint is adopted, which has six DOFs and those six axes intersect in one point. This mechanism is for humanoid hip joints with a waist joint function without increasing an actuator. And there are three degrees of freedom (DOF) in the ankle; therefore it is possible for the robot to perform multiple postures even if the positions of the hip and trunk are fixed.

AB - Most of exist humanoid legs have 6 Degrees of freedom (DOF). This paper proposes a new leg mechanism with 7 DOFs, and three DOFs in the hip, one DOF in the knee and three DOFs in the ankle. And in the hip joints, a mechanism called double spherical joint is adopted, which has six DOFs and those six axes intersect in one point. This mechanism is for humanoid hip joints with a waist joint function without increasing an actuator. And there are three degrees of freedom (DOF) in the ankle; therefore it is possible for the robot to perform multiple postures even if the positions of the hip and trunk are fixed.

KW - Biped walking

KW - Humanoid robot

UR - https://www.scopus.com/pages/publications/34247212191

U2 - 10.1109/ICMA.2006.257775

DO - 10.1109/ICMA.2006.257775

M3 - Conference contribution

AN - SCOPUS:34247212191

SN - 1424404665

SN - 9781424404667

T3 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006

SP - 1080

EP - 1085

BT - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006

T2 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006

Y2 - 25 June 2006 through 28 June 2006

ER -

Kinematics analysis of a humanoid leg with redundancy freedom

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Conference

Keywords

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