Structure Design and Motion Analysis of Waist of Humanoid Robot for Jumping and Crawling

被引：0

作者：

Zhao, Fangzhou ^{[1
]}

Gao, Junyao ^{[1
]}

Zhao, Jingchao ^{[1
]}

Zhang, Chunlei ^{[1
]}

Xu, Zhe ^{[1
]}

Shi, Xuanyang ^{[1
]}

Liu, Yi ^{[1
]}

Liu, Chuzhao ^{[1
]}

Liu, Cunqiu ^{[1
]}

机构：

[1] Beijing Inst Technol, Intelligent Robot Inst, Sch Mechatron Engn,Adv Innovat Ctr Intelligent Ro, Key Lab Biomimet Robots & Syst,Minist Educ,State, Beijing, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017) | 2017年

基金：

中国国家自然科学基金;

关键词：

humanoid robot; waist; sphere-pin pair; kinematics; inverse kinematics;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

It is a new research hotspot to improve the jumping and crawling ability of humanoid robot. A novel anti-impact and lightweight humanoid waist joint structure is presented. The degree of freedom of roll and pitch is provided by sphere-pin pair, and driven by two lead screws in the back. When the robot is in the upright state, the rotation axis of DoF of roll is not in the horizontal direction. It is vertical to the rotation axis of DoF of pitch, but not vertical to that of yaw. A kinematic model and corresponding rotation matrix calculation method is proposed for this structure. The motion space and attitude changes are numerically analyzed. The lengths of the screw rod with different attitudes are calculated by inverse kinematics calculation using the rotation matrix. The numerical results show that the structure can adapt to the requirements of the robot jumping and crawling on the motion space and attitude, and all the poses can be smoothly controlled.

引用

页码：1800 / 1805

页数：6

共 50 条

[1] The Arm and Waist Motion Design of Humanoid Robot for Fast Walking
Zhang, Si
Tian, Ye
Chen, Xuechao
Yu, Zhangguo
Huang, Qiang
Liu, Yunhui
Gao, Junyao
[J]. 2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, 2015, : 1193 - 1198
[2] Design of Crawling Motion for a Biped Walking Humanoid with 3-DoF Rigid-flexible Waist
Huang, Zelin
Jiang, Xinyang
Liu, Huaxin
Chen, Xuechao
Fukuda, Toshio
Huang, Qiang
[J]. 2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2018, : 974 - 979
[3] Jumping Mechanism Analysis of the Humanoid Robot
Yong, Chen
[J]. APPLIED MECHANICS AND MECHANICAL ENGINEERING, PTS 1-3, 2010, 29-32 : 1562 - 1566
[4] Motion control system analysis and design for a humanoid robot
Du, Qinjun
Shi, Xiang
Lu, Enqing
Zhang, Xueyi
[J]. INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2012, 17 (02) : 158 - 165
[5] Crawling and jumping by a deformable robot
Sugiyama, Y
Hirai, S
[J]. EXPERIMENTAL ROBOTICS IX, 2006, 21 : 281 - +
[6] Design and Analysis of the Rolling and Jumping Compound Motion Robot
Wu, Huaisong
Li, Bingyang
Wang, Futao
Luo, Bin
Jiao, Zhiwei
Yu, Yuan
Wang, Pengfei
[J]. APPLIED SCIENCES-BASEL, 2021, 11 (22):
[7] Crawling and jumping by a deformable robot
Sugiyama, Yuuta
Hirai, Shinichi
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2006, 25 (5-6): : 603 - 620
[8] Analyses of Jumping Motion of Humanoid Robot Using Arms' Swinging
Nishiguchi, Jumpei
Minami, Mamoru
Yanou, Akira
Matsuno, Takayuki
Maeba, Tomohide
[J]. 2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 2012, : 496 - 501
[9] Research and Design of a Humanoid Cushioning Foot for Robot Jumping
Yi, Chuanku
Chen, Xuechao
Yu, Zhangguo
Qi, Haoxiang
Huang, Qiang
[J]. 2022 IEEE-RAS 21ST INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2022, : 330 - 336
[10] Design and simulation of a waist-trunk system for a humanoid robot
Liang, Conghui
Ceccarelli, Marco
[J]. MECHANISM AND MACHINE THEORY, 2012, 53 : 50 - 65

← 1 2 3 4 5 →