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.
| Original language | English |
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| Title of host publication | 2010 IEEE International Conference on Automation and Logistics, ICAL 2010 |
| Pages | 249-254 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 2010 IEEE International Conference on Automation and Logistics, ICAL 2010 - Shatin, Hong Kong Duration: 16 Aug 2010 → 20 Aug 2010 |
Publication series
| Name | 2010 IEEE International Conference on Automation and Logistics, ICAL 2010 |
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Conference
| Conference | 2010 IEEE International Conference on Automation and Logistics, ICAL 2010 |
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| Country/Territory | Hong Kong |
| City | Shatin |
| Period | 16/08/10 → 20/08/10 |
Keywords
- BHR
- Balance control
- Humanoid robot
- Waist joint
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Xu, W., Huang, Q., Li, J., Yu, Z., Chen, X., Liu, J., & Zhang, W. (2010). Mechanical design and balance control of a humanoid waist joint. In 2010 IEEE International Conference on Automation and Logistics, ICAL 2010 (pp. 249-254). Article 5585290 (2010 IEEE International Conference on Automation and Logistics, ICAL 2010). https://doi.org/10.1109/ICAL.2010.5585290