Title :
Kinematics Analysis of a Humanoid Leg With Redundancy Freedom
Author :
Zhang, Zhou ; Huang, Qiang ; Jin, Quan ; Li, Guangri ; Zhang, Weimin
Author_Institution :
Dept. of Mechatronics, Beijing Inst. of Technol.
Abstract :
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
Keywords :
humanoid robots; legged locomotion; redundancy; robot kinematics; double spherical joint; humanoid hip joints; humanoid leg; kinematics analysis; redundancy freedom; waist joint function; Actuators; Hip; Humanoid robots; Joints; Kinematics; Knee; Leg; Legged locomotion; Mechatronics; Orbital robotics; Biped walking; Humanoid robot;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257775
