{"title":"仿人腰关节的机械设计与平衡控制","authors":"Wei Xu, Qiang Huang, Jing Li, Zhangguo Yu, Xuechao Chen, Jiayu Liu, Weimin Zhang","doi":"10.1109/ICAL.2010.5585290","DOIUrl":null,"url":null,"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.","PeriodicalId":393739,"journal":{"name":"2010 IEEE International Conference on Automation and Logistics","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Mechanical design and balance control of a Humanoid Waist Joint\",\"authors\":\"Wei Xu, Qiang Huang, Jing Li, Zhangguo Yu, Xuechao Chen, Jiayu Liu, Weimin Zhang\",\"doi\":\"10.1109/ICAL.2010.5585290\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":393739,\"journal\":{\"name\":\"2010 IEEE International Conference on Automation and Logistics\",\"volume\":\"30 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-09-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 IEEE International Conference on Automation and Logistics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAL.2010.5585290\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 IEEE International Conference on Automation and Logistics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAL.2010.5585290","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Mechanical design and balance control of a Humanoid Waist Joint
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.
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