Design of a Redundantly Actuated Hip Mechanism

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概要

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• In humanoid robotic system, many human-body motions such as walking, running, and jumping require large power. As one effort to achieve such high power-to-weight ratio, this paper proposes a new hip design using parallel kinematic chain involving redundant actuators. The kinematics for the hip mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant actuator into the hip mechanism enhances the power of the mechanism approximately 4 times of the minimum actuation. And the validity of the simulation result was verified through experimental works.

• 一般社団法人日本機械学会の論文
• 2006-03-15

著者

• Yi Byung-ju

  The School Of Electrical Engineering And Computer Science Hanyang University

• So Byung

  Division Of Applied Robot Technology Korea Institute Of Industrial Technology

関連論文

• Design of a Redundantly Actuated Hip Mechanism

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