Design of a small biped mechanism with 7 DOFs legs and double spherical hip joint
作者： Guangri Li , Qiang Huang , Qian Xu , Guodong Li , Jing Li
DOI: 10.1109/WCICA.2010.5554999
关键词: Simulation 、 Control theory 、 Computation 、 Stability (learning theory) 、 Electronic stability control 、 Joint (geology) 、 Mechanism (engineering) 、 Motion control 、 Engineering 、 Humanoid robot
摘要: Most of low-cost and small-size humanoid robots have been developed by using the conventional mechanism simple control units. The has a unique structure when pose feet waist is fixed, small robot to walk with bending knee joints without joints. On other hand, these perform low capability in dynamic walking because open-loop hardware computation performance. In order improve problems, biped 7 DOFs double spherical hip joint this paper. There are two primary advantages compared those robots. First, new can realize motions which more similar human beings. Secondly, foot-force sensory system designed make close-loop, quick response stability proposed control. effectiveness our was confirmed experiments on an actual 14 mechanism.
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