Abstract
A mechanical structure with 23 DOFs (degrees of freedom) is proposed so that an implemented small-size humanoid robot named TWNHRVI is able to accomplish some human-like walking motions. The height and weight of the implemented robot is 55 cm and 3.7 kg, respectively. There are 2 DOFs on the head, 1 DOF on the trunk, 4 DOFs on each arm, and 6 DOFs on each leg. Three basic walking experiments of TWNHR-VI are presented to illustrate that the proposed mechanical structure lets the robot walk forward, turn, and slip effectively.
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Chan, HM., Huang, KH., Hu, YY., Wong, CC. (2010). Mechanical Design of Small-Size Humanoid Robot: TWNHR-VI. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_13
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DOI: https://doi.org/10.1007/978-3-642-15810-0_13
Publisher Name: Springer, Berlin, Heidelberg
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