TY - GEN
T1 - Design and development of a two-DOF torso for humanoid robot
AU - Cao, Baoshi
AU - Sun, Kui
AU - Jin, Minghe
AU - Huang, Cong
AU - Zhang, Yu
AU - Liu, Hong
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/26
Y1 - 2016/9/26
N2 - This paper mainly describes the design and development of a two-DOF humanoid torso. 'Up to down' sequence is adopted in our humanoid robot design. By analyzing human torso motion and employing a wheel platform to achieve stable operation, humanoid torso is designed with two identical joints and series configuration. Torso D-H parameters is obtained according to analysis of humanoid arms' workspace and binocular head's visual range. Mechanical structure of modular joint is described in detail, each torso-joint offers highly spatially integrated, minimal mass (10.9kg), better accuracy (0.01°) and enough load capacity (741Nm). Also, feasible control strategies are discussed. Meanwhile, a nice envelop is introduced to match anthropomorphic appearance requirement. In empirical part of this paper, two experiments have been carried out to verify the feasibility of torso-joint.
AB - This paper mainly describes the design and development of a two-DOF humanoid torso. 'Up to down' sequence is adopted in our humanoid robot design. By analyzing human torso motion and employing a wheel platform to achieve stable operation, humanoid torso is designed with two identical joints and series configuration. Torso D-H parameters is obtained according to analysis of humanoid arms' workspace and binocular head's visual range. Mechanical structure of modular joint is described in detail, each torso-joint offers highly spatially integrated, minimal mass (10.9kg), better accuracy (0.01°) and enough load capacity (741Nm). Also, feasible control strategies are discussed. Meanwhile, a nice envelop is introduced to match anthropomorphic appearance requirement. In empirical part of this paper, two experiments have been carried out to verify the feasibility of torso-joint.
UR - https://www.scopus.com/pages/publications/84992401808
U2 - 10.1109/AIM.2016.7576741
DO - 10.1109/AIM.2016.7576741
M3 - 会议稿件
AN - SCOPUS:84992401808
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 46
EP - 51
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -