TY - GEN
T1 - Design of a small biped mechanism with 7 DOFs legs and double spherical hip joint
AU - Li, Guangri
AU - Huang, Qiang
AU - Xu, Qian
AU - Li, Guodong
AU - Li, Jing
AU - Li, Min
PY - 2010
Y1 - 2010
N2 - Most of low-cost and small-size humanoid robots have been developed by using the conventional mechanism and simple control units. The conventional mechanism has a unique structure when the pose of feet and waist is fixed, and the small humanoid robot has to walk with bending knee joints without waist joints. On the other hand, these small humanoid robots perform low capability in the dynamic walking because of the open-loop hardware and low computation performance. In order to improve these problems, a small biped mechanism with 7 DOFs and a double spherical hip joint has been developed in this paper. There are two primary advantages compared with those small humanoid robots. First, the new biped mechanism can realize motions which are more similar to human beings. Secondly, a foot-force sensory system is designed to make the hardware close-loop, and a quick response stability control is proposed to realize the dynamic walking control. The effectiveness of our proposed small humanoid robot was confirmed by experiments on an actual 14 DOFs small biped mechanism.
AB - Most of low-cost and small-size humanoid robots have been developed by using the conventional mechanism and simple control units. The conventional mechanism has a unique structure when the pose of feet and waist is fixed, and the small humanoid robot has to walk with bending knee joints without waist joints. On the other hand, these small humanoid robots perform low capability in the dynamic walking because of the open-loop hardware and low computation performance. In order to improve these problems, a small biped mechanism with 7 DOFs and a double spherical hip joint has been developed in this paper. There are two primary advantages compared with those small humanoid robots. First, the new biped mechanism can realize motions which are more similar to human beings. Secondly, a foot-force sensory system is designed to make the hardware close-loop, and a quick response stability control is proposed to realize the dynamic walking control. The effectiveness of our proposed small humanoid robot was confirmed by experiments on an actual 14 DOFs small biped mechanism.
KW - 7 DOFs legs
KW - Double spherical hip joint
KW - Small humanoid robot
KW - Stability control
UR - http://www.scopus.com/inward/record.url?scp=77958133785&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2010.5554999
DO - 10.1109/WCICA.2010.5554999
M3 - Conference contribution
AN - SCOPUS:77958133785
SN - 9781424467129
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 264
EP - 269
BT - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
T2 - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Y2 - 7 July 2010 through 9 July 2010
ER -