Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso | |
Li, Tao1,2; Yao, Peng1,2; Luo, Minzhou1; Tan, Zhiying1; Wang, Meiling2; Guo, Ziyi1,2 | |
刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS |
2018-01-05 | |
卷号 | 15期号:1页码:10 |
关键词 | Humanoid robot torso serial robot kinematics analysis numerical method |
ISSN号 | 1729-8814 |
DOI | 10.1177/1729881417748126 |
英文摘要 | This article presents a bioinspired humanoid torso which is supposed to be used as the trunk for humanoid robots. It can effectively mimic motions of human torso with high degrees of freedom, and it has high stiffness and easy-to-control features. The main structure of the proposed torso is a six-degree-of-freedom serial mechanism with twist angles that are not equal to 0, pi/2 or pi and zero-length links. Forward kinematic and workspace analysis based on Denavit-Hartenberg and Monte Carlo methods have been formulated to analyze the feasibility of this structure. In addition, a hybrid method combing the large-scale regularity search capabilities of chaos optimization and the quasi-Newton method with relatively high-speed convergence has been proposed to analyze inverse kinematics. Simulations are carried out with the aim to validate the correctness and efficiency of this method for studying the inverse kinematics. |
资助项目 | National Natural Science Foundation of China[51405469] ; National Natural Science Foundation of China[61401437] |
WOS关键词 | NONLINEAR EQUATIONS ; CHAOS OPTIMIZATION ; SYSTEMS |
WOS研究方向 | Robotics |
语种 | 英语 |
出版者 | SAGE PUBLICATIONS INC |
WOS记录号 | WOS:000419460300001 |
内容类型 | 期刊论文 |
源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/35180] |
专题 | 合肥物质科学研究院_中科院合肥物质科学研究院先进制造技术研究所 |
通讯作者 | Yao, Peng |
作者单位 | 1.Univ Sci & Technol China, Dept Precis Machinery & Precis Instrumentat, Hefei 230022, Anhui, Peoples R China 2.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg Technol, Changzhou 213164, Peoples R China |
推荐引用方式 GB/T 7714 | Li, Tao,Yao, Peng,Luo, Minzhou,et al. Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1):10. |
APA | Li, Tao,Yao, Peng,Luo, Minzhou,Tan, Zhiying,Wang, Meiling,&Guo, Ziyi.(2018).Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(1),10. |
MLA | Li, Tao,et al."Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.1(2018):10. |
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