DocumentCode
3102345
Title
Mechanical Design of Small-Size Humanoid Robot TWNHR-3
Author
Wong, Ching-Chang ; Cheng, Chi-Tai ; Huang, Kai-Hsiang ; Yang, Yu-Ting ; Chan, Hsiang-Min ; Yin, Chii-Sheng
Author_Institution
Tamkang Univ., Taipei
fYear
2007
fDate
5-8 Nov. 2007
Firstpage
451
Lastpage
454
Abstract
In this paper, a mechanical structure with 26 DOFs (degrees of freedom) is proposed so that an implemented small-size humanoid robot named TWNHR-3 is able to accomplish the man-like walking motion. The height and weight of the implemented robot is 46 cm and 3.1 kg, respectively. There are 2 DOFs on the head, 2 DOFs on the trunk, 4 DOFs on each arm, and 7 DOFs on each leg. Some basic walking experiments of TWNHR-3 are presented to illustrate that the proposed mechanical structure lets the robot move forward, turn, and slip effectively.
Keywords
humanoid robots; legged locomotion; DOF; TWNHR-3 mechanical design; degrees-of-freedom; man-like walking motion; small-size humanoid robot; Artificial intelligence; Electronics industry; Humanoid robots; Humans; Industrial Electronics Society; Joints; Leg; Legged locomotion; Notice of Violation; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE
Conference_Location
Taipei
ISSN
1553-572X
Print_ISBN
1-4244-0783-4
Type
conf
DOI
10.1109/IECON.2007.4460390
Filename
4460390
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