@inproceedings{7f63af90173b41598782033ace172712,
title = "Novel design of a 3-DOF series-parallel torso for humanoid robots",
abstract = "A novel 3-dof series-parallel torso is proposed for humanoid robots to realize multimode locomotion and transition. The torso is composed of a 2UPU-U parallel mechanism for pitch and roll rotation and a serial joint for yaw rotation. The working principle of 2UPU-U is analyzed and a kind of integral joint base on rimless servo motor is designed in details. The proposed torso can not only improve the motion performance and flexibility of humanoid robot but also ensure the load capacity and servo accuracy.",
keywords = "Human-like torso, Humanoid robot, Multimode locomotion, Series-parallel mechanism",
author = "Weimin Zhang and Xinran Guo and Hulin Huang and Qiang Huang",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 ; Conference date: 07-08-2016 Through 10-08-2016",
year = "2016",
month = sep,
day = "1",
doi = "10.1109/ICMA.2016.7558724",
language = "English",
series = "2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1149--1154",
booktitle = "2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016",
address = "United States",
}