A Novel 3 DOFs Waist Mechanism for Humanoid Robots: Kinematic Analysis and Motion Simulation

  • Marko PenčićEmail author
  • Maja Čavić
  • Boris Brkić
  • Milan Rackov
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The paper presents the kinematic analysis and motion simulation of the waist mechanism for humanoid robots. The waist mechanism with total 3 DOFs is proposed. It consists of two interconnected spatial mechanisms that allow movements around the pitch and roll axes, while the third is planar mechanism for movements around the yaw axis. Due to the structure of links, spatial mechanisms can function independently and/or simultaneously. By kinematic analysis of the waist mechanism, the kinematic parameters are defined and based on that, a kinematic model is formed. Motion simulation of the waist mechanism for initial movements of flexion, extension, lateral flexion and rotation is performed. For the corresponding movement and range of motion, the waist mechanism reaches the kinematic parameters of the human lumbar spine region, which was the basic requirement for realization.


Humanoid robot Waist mechanism Kinematic analysis Motion simulation 


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This research was funded by the Ministry of Education, Science and Technological Development of the Republic of Serbia [III44008] and by the Provincial Secretariat for Higher Education and Scientific Research of AP Vojvodina [114-451-2116/2011].


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Faculty of Technical SciencesUniversity of Novi SadNovi SadSerbia

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