Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist

被引：44

作者：

Ogura, Y ^{[1
]}

Aikawa, H ^{[1
]}

Lim, HO ^{[1
]}

Takanishi, A ^{[1
]}

机构：

[1] Waseda Univ, Grad Sch Sci & Engn, Tokyo, Japan

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

biped humanoid robot; new leg mechanism; various walking motions; stretch walking;

D O I：

10.1109/ROBOT.2004.1307141

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Almost all conventional biped humanoid robots have difficulties in realizing various walking motions such as knee stretch walking like a human because of an insufficiency of DOF. Therefore, we have developed a 16-DOF biped humanoid robot without a trunk: 3-DOF in each ankle, 1-DOF in each knee, 3-DOF in each hip and 2-DOF in the waist. Using the biped robot, basic experiments are conducted and the effectiveness of the leg mechanism is confirmed.

引用

页码：134 / 139

页数：6

共 9 条

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