Title :
Mechanical design and balance control of a Humanoid Waist Joint
Author :
Xu, Wei ; Huang, Qiang ; Li, Jing ; Yu, Zhangguo ; Chen, Xuechao ; Liu, Jiayu ; Zhang, Weimin
Author_Institution :
Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China
Abstract :
A waist joint is designed for a humanoid robot in this paper, which has the characteristics of a large range of motion and high mechanical strength. A new method of balance control based on waist joints is also provided. It can effectively increase the stability margin during single support phase. We have been developing BHR, which has 38 DOF (degree of freedom). Each arm of BHR has 11 DOF in total that amounts to 3 DOF/shoulder, 2 DOF/elbow, 5 DOF/hand and 1 DOF/wrist. Each leg constitutes 6 DOF. Head constitutes 2 DOF, and trunk has 2 DOF. Its waist joints are designed to produce both swing and rotation movements. The effectiveness of the method on balance control is conducted by simulation and walking experiments on BHR.
Keywords :
humanoid robots; stability; BHR; balance control; humanoid robot; humanoid waist joint; mechanical design; single support phase; stability margin; Hip; Humanoid robots; Joints; Legged locomotion; Stability analysis; Trajectory; BHR; balance control; humanoid robot; waist joint;
Conference_Titel :
Automation and Logistics (ICAL), 2010 IEEE International Conference on
Conference_Location :
Hong Kong and Macau
Print_ISBN :
978-1-4244-8375-4
Electronic_ISBN :
978-1-4244-8374-7
DOI :
10.1109/ICAL.2010.5585290
