The Mechanical System Structure Design and Kinematics Analysis of the Bipedal Humanoid Robot Leg

Abstract:

In the study of humanoid robot, the system design and analysis of the legs is the foundation of realizing humanoid walking robot. In this paper, structure design of each leg joint has been introduced, and according to the degrees of freedom of each joint distribution, using screw theory and exponential product formula to establish the mathematical model of the legs, to analyze the kinematics of the legs, finally obtains that the range of joint movement comply with the design requirements.

• Periodical: Applied Mechanics and Materials (Volumes 496-500)
• Pages: 857-860
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.496-500.857
• Online since: January 2014
• Authors: Deng Qi Cui, Hong Bing Xin, Long Liu, Tan Wang, Yue Fei Xin
• Keywords: Joint Structure, Kinematics, Screw Theory

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