实现类人运动柔韧性的21自由度仿人机器人设计

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI:10.1109/ROMAN.2006.314418

H. Yussof, M. Yamano, Y. Nasu, M. Ohka

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引用次数: 7

摘要

本文从自由度和关节角度范围特性的角度出发，提出了一种21自由度仿人机器人的设计方案，以确定为实现仿人运动提供柔性的要素。对人与类人机器人进行运动时的物理结构柔性进行了描述和关联，阐明了其中的要素。重点研究了21自由度仿人机器人Bonten-Maru II的关节结构设计、自由度配置和关节旋转范围。利用该机器人进行了实验，结果表明了实现类人运动柔韧性的有效因素

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design of a 21-DOF Humanoid Robot to Attain Flexibility in Human-Like Motion

This paper presents a design of a 21-DOF humanoid robot from the perspective of DOFs and joint angle range characteristic to identify elements that provide flexibility to attain human-like motion. Description and correlation of physical structure flexibility between human and humanoid robot to perform motion is presented to clarify the elements. The investigation is focusing in joint structure design, configuration of DOF and joint rotation range of 21-DOF humanoid robot Bonten-Maru II. Experiments utilizing this robot were conducted, with results indicates effective elements to attain flexibility in human-like motion

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ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication

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