Design and Operation Analysis of a New Biped Mechanism

被引：2
|
作者：
Li, Tao [1 ]
Ceccarelli, Marco [2 ]
Luo, Min-Zhou [1 ]
机构：
[1] Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg Technol, Changzhou 213164, Jiangsu, Peoples R China
[2] DICeM Univ Cassino & South Latium, LARM Lab Robot & Mechatron, I-03043 Cassino, Fr, Italy
来源：
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS | 2014年 / 11卷 / 02期
关键词：
Humanoid robot; biped mechanism; operation analysis; walking gait; HUMANOID ROBOT;
D O I：
10.1142/S0219843614500170
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a new biped mechanism, which has been designed with main features for low-cost and easy-operation. The biped mechanism is supposed to have the same basic motion capabilities as conventional multi-actuator biped robots, such as straight walking, changing direction, overcoming obstacle, descending and ascending stairs. Furthermore, with two wheels installed on the shank, the biped mechanism has two basic walking modes, which are legged mode and wheeled mode. Walking with proper mode for different environments makes the biped mechanism possess the advantages of both legged and wheeled robots.
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收藏
页数：15
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