@inproceedings{44cf0009f6204c3fa01e0200af3dbe7f,
title = "Structural design and motion analysis of parallel ankle joints for humanoid robots",
abstract = "In the development of humanoid robots, ankle joint design is critical for achieving both stability and flexibility. This study introduces a novel parallel ankle joint, designed to address the limitations of existing designs, including restricted range of motion and high leg inertia. First, we developed the structure of the parallel ankle joint and conducted a degree-of-freedom analysis. Next, we examined the kinematic relationship and derived the Jacobian matrix to relate the ankle joint's orientation to the actuator's output rotation. Finally, experimental results confirmed both the feasibility of the design and the accuracy of the kinematic analysis, demonstrating that humanoid robots equipped with this new parallel ankle joint can successfully perform dynamic movements such as squatting, stepping, and omnidirectional walking.",
keywords = "ankle joint, humanoid robot, kinematic, parallel structure, structural design",
author = "Shilin He and Fusheng Zha and Lianzhao Zhang and Zhicheng He and Xiangji Wang and Weicong Zheng",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 2nd IEEE International Conference on Electrical, Automation and Computer Engineering, ICEACE 2024 ; Conference date: 29-12-2024 Through 31-12-2024",
year = "2024",
doi = "10.1109/ICEACE63551.2024.10898470",
language = "英语",
series = "2024 IEEE 2nd International Conference on Electrical, Automation and Computer Engineering, ICEACE 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1531--1536",
booktitle = "2024 IEEE 2nd International Conference on Electrical, Automation and Computer Engineering, ICEACE 2024",
address = "美国",
}