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
UR - https://www.scopus.com/pages/publications/52149098002
U2 - 10.1109/WCICA.2008.4593397
DO - 10.1109/WCICA.2008.4593397
M3 - Conference contribution
AN - SCOPUS:52149098002
SN - 9781424421145
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2982
EP - 2987
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 -