Title :
Design and application of humanoid uncoupled leg
Author :
Dongchao, Yang ; Ken, Chen
Author_Institution :
Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China
Abstract :
The control of COG (Center of Gravity) is a key problem in study on humanoid robots. The design of leg is very important because position of COG mainly depends on configurations of support leg. Now many prototypes adopt the traditional leg like Asimo. This leg has a shortcoming that coupling occurs among joints, so the control of COG is hard. This paper introduces a new humanoid uncoupled leg, which can modify the position of COG easily. It presents a new idea to study humanoid robots.
Keywords :
humanoid robots; legged locomotion; Asimo; COG; center of gravity; humanoid robots; humanoid uncoupled leg; Gravity; Humanoid robots; IEEE Press; Instruments; Intelligent robots; Intelligent sensors; Intelligent systems; Leg; Legged locomotion; Prototypes; coupling; gaits; humanoid robot; static walking;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-7737-1
DOI :
10.1109/MACE.2010.5536372
