| RESEARCH ON THE DOF DISPOSITION AND MECHANISMS DESIGN OF HUMANOID ROBOT |
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| 作者姓名： | 包志军 马培荪 姜山 王春雨 |
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| 作者单位： | School of Mechanical Eng.，Shanghai Jiaotong Univ.，Shanghai 200030，China |
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| 摘 要： | IntroductionSome researchers1～ 3] in Yugoslavia,Japan andAmerica have got many achievements in bipedrobot since the beginning of1 970 s.The bipedrobot can walk in static and dynamic gait and al-so can turn around and go up stairs.Recentlyhumanoid robot has become a hot researchingpoint4,5 ] .Humanoid robot has body includinghead,neck,waist and hands.Biped robot is abasis of humanoid robot.Usually a humanoidrobot should have more than 2 0 DOF.All thetechnology problems in DOF planning,m…
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RESEARCH ON THE DOF DISPOSITION AND MECHANISMS DESIGN OF HUMANOID ROBOT |
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| BAO Zhi-jun,MA Pei-sun,JIANG Shan,WANG Cun-yu.RESEARCH ON THE DOF DISPOSITION AND MECHANISMS DESIGN OF HUMANOID ROBOT[J].Journal of Shanghai Jiaotong university,2000,5(2). |
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| Authors: | BAO Zhi-jun MA Pei-sun JIANG Shan WANG Cun-yu |
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| Abstract: | The DOF of human being was analyzed in this paper. Three reasonable kinds of DOF disposition programs came up to design a humanoid robot and an optimal DOF disposition program was chosen according to configuration appearance, realizing the balance and torsion movement and analysis of torque of the humanoid. Three special mechanisms were designed so that the humanoid robot has some special function. |
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| Keywords: | DOF disposition mechanism humanoid robot Document code:A |
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