Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist
Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist
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DOI：
10.1109/robot.2004.1307141
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发表时间：
2004-07
期刊：
影响因子：
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通讯作者：
Y. Ogura;H. Aikawa;Hun-ok Lim;A. Takanishi
中科院分区：
文献类型：
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作者：
Y. Ogura;H. Aikawa;Hun-ok Lim;A. Takanishi
由于自由度不足，几乎所有传统的双足类人机器人都难以实现像人一样的膝关节伸展行走等多种行走动作。因此，我们研制了一种无躯干的16自由度双足类人机器人：踝关节各3自由度，膝盖各1自由度，臀部各3自由度，腰部各2自由度。利用该双足机器人进行了基础实验，验证了腿部机构的有效性。
Almost all conventional biped humanoid robots have difficulties in realizing various walking motions such as knee stretch walking like a human because of an insufficiency of DOF. Therefore, we have developed a 16-DOF biped humanoid robot without a trunk: 3-DOF in each ankle, 1-DOF in each knee, 3-DOF in each hip and 2-DOF in the waist. Using the biped robot, basic experiments are conducted and the effectiveness of the leg mechanism is confirmed.