{"title":"Novel design of a 3-DOF series-parallel torso for humanoid robots","authors":"Weimin Zhang, Xin-Yu Guo, Hulin Huang, Qiang Huang","doi":"10.1109/ICMA.2016.7558724","DOIUrl":null,"url":null,"abstract":"A novel 3-dof series-parallel torso is proposed for humanoid robots to realize multimode locomotion and transition. The torso is composed of a 2UPU-U parallel mechanism for pitch and roll rotation and a serial joint for yaw rotation. The working principle of 2UPU-U is analyzed and a kind of integral joint base on rimless servo motor is designed in details. The proposed torso can not only improve the motion performance and flexibility of humanoid robot but also ensure the load capacity and servo accuracy.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE International Conference on Mechatronics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMA.2016.7558724","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
A novel 3-dof series-parallel torso is proposed for humanoid robots to realize multimode locomotion and transition. The torso is composed of a 2UPU-U parallel mechanism for pitch and roll rotation and a serial joint for yaw rotation. The working principle of 2UPU-U is analyzed and a kind of integral joint base on rimless servo motor is designed in details. The proposed torso can not only improve the motion performance and flexibility of humanoid robot but also ensure the load capacity and servo accuracy.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
