摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 |
| 页 | 1080-1085 |
| 页数 | 6 |
| DOI | |
| 出版状态 | 已出版 - 2006 |
| 活动 | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, 中国 期限: 25 6月 2006 → 28 6月 2006 |
出版系列
| 姓名 | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 |
|---|---|
| 卷 | 2006 |
会议
| 会议 | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Luoyang |
| 时期 | 25/06/06 → 28/06/06 |
指纹
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Zhang, Z., Huang, Q., Jin, Q., Li, G., & Zhang, W. (2006). Kinematics analysis of a humanoid leg with redundancy freedom. 在 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 (页码 1080-1085). 文章 4026235 (2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006; 卷 2006). https://doi.org/10.1109/ICMA.2006.257775