TY - GEN
T1 - Kinematics analysis of a humanoid leg with redundancy freedom
AU - Zhang, Zhou
AU - Huang, Qiang
AU - Jin, Quan
AU - Li, Guangri
AU - Zhang, Weimin
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Biped walking
KW - Humanoid robot
UR - http://www.scopus.com/inward/record.url?scp=34247212191&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2006.257775
DO - 10.1109/ICMA.2006.257775
M3 - Conference contribution
AN - SCOPUS:34247212191
SN - 1424404665
SN - 9781424404667
T3 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
SP - 1080
EP - 1085
BT - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
T2 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Y2 - 25 June 2006 through 28 June 2006
ER -