Design of A Bipedal Robot via Modular Actuator

被引：0
|
作者：
Wang, Weijun [1 ]
Cai, Songtao [1 ]
Hu, Jiangtao [1 ]
Yang, Xiaofeng [1 ]
Lu, Hongrun [1 ]
Li, Wenjie [2 ,3 ]
机构：
[1] China Elect Technol Grp Corp, Robot Engn Ctr, Res Inst 21, 30 Hongcao Rd, Shanghai 200233, Peoples R China
[2] Beijing Microelect Technol Inst, Beijing 100076, BJ, Peoples R China
[3] Politecn Milan, Milan, Italy
来源：
2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022) | 2022年
关键词：
D O I：
10.1109/ICARM54641.2022.9959212
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Bipedal robot is a main part of humanoid robot. In general, the greater the number of degrees of freedom of a robot, the more sophisticated electro-mechanical design and the more adaptable ability of a robot. There are many ways to construct a bipedal robot. One of them is to construct it directly with several modular actuators. The advantage of modular design is that it can reduce the complexity of the system. In this paper, a bipedal robot that consists of 12 modular actuators is introduced. Firstly, a modular actuator with a double support structure and a bipedal robot constructed by these modular actuators are introduced. Then, gait planning and simulation of this robot based on zero moment point principle is introduced. Finally, the prototype of this robot is presented and discussed.
引用
收藏
页码：1104 / 1109
页数：6
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