ROBIAN Hip Joint: Analysis, Design and Simulation
This paper presents a novel 3-DOFs parallel-actuated mechanism for the hip joint of the biped robot named ROBIAN. This mechanism allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations are conducted to validate a kinematic model and to find a set of optimal parameters for the actual design. An experimental prototype and the ROBIAN hip are also shown in this paper.
KeywordsParallel Mechanism Humanoid Robot Inverse Kinematic Biped Robot Nominal Position
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