Paper Info
Title
Design of a Humanoid Bipedal Robot Based on Kinematics and Dynamics Analysis of Human Lower Limbs
Abstract
This paper proposes a humanoid bipedal robot based on kinematics and dynamics analysis of human lower limbs. The robot has a high-torque hip joint which combines two-degree-of-freedom parallel mechanisms and a lightweight high-torque knee joint with variable damping. The introduction of prosthesis makes the robot much closer to the real human body. In this paper, the overall structural design and the machine construction of the bipedal robot are presented, and experimental research was implemented to validate the rationality of the structural design of the humanoid biped robot and the feasibility of the control system.
Year
DOI
Venue
2020
10.1109/AIM43001.2020.9158973
2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Keywords
DocType
ISSN
humanoid bipedal robot,kinematics,dynamics analysis,human lower limbs,high-torque hip joint,two-degree-of-freedom parallel mechanisms,lightweight high-torque knee,human body,structural design,humanoid biped robot
Conference
2159-6247
ISBN
Citations 
PageRank 
978-1-7281-6795-4
0
0.34
References 
Authors
6
4
Name
Order
Citations
PageRank
Donghua Huang100.34
Wu Fan21731192.15
yong liu32514.83
Tao Liu411725.47