Design of a Humanoid Bipedal Robot Based on Kinematics and Dynamics Analysis of Human Lower Limbs

被引：0

作者：

Huang, Donghua ^{[1
]}

Fan, Wu ^{[1
]}

Liu, Yong ^{[2
]}

Liu, Tao ^{[1
]}

机构：

[1] Zhejiang Univ, Sch Mech Engn, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China

[2] Guangdong Ecoengn Polytech, Guangzhou 510520, Peoples R China

来源：

2020 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2020年

关键词：

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：759 / 764

页数：6

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