DocumentCode
3362019
Title
Design and application of humanoid uncoupled leg
Author
Dongchao, Yang ; Ken, Chen
Author_Institution
Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China
fYear
2010
fDate
26-28 June 2010
Firstpage
5888
Lastpage
5891
Abstract
The control of COG (Center of Gravity) is a key problem in study on humanoid robots. The design of leg is very important because position of COG mainly depends on configurations of support leg. Now many prototypes adopt the traditional leg like Asimo. This leg has a shortcoming that coupling occurs among joints, so the control of COG is hard. This paper introduces a new humanoid uncoupled leg, which can modify the position of COG easily. It presents a new idea to study humanoid robots.
Keywords
humanoid robots; legged locomotion; Asimo; COG; center of gravity; humanoid robots; humanoid uncoupled leg; Gravity; Humanoid robots; IEEE Press; Instruments; Intelligent robots; Intelligent sensors; Intelligent systems; Leg; Legged locomotion; Prototypes; coupling; gaits; humanoid robot; static walking;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-7737-1
Type
conf
DOI
10.1109/MACE.2010.5536372
Filename
5536372
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