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
收藏
页码：134 / 139
页数：6
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