Romansy 14 pp 387-396 | Cite as

ROBIAN Hip Joint: Analysis, Design and Simulation

  • Ramzi Sellaouti
  • Atsushi Konno
  • Fethi Ben Ouezdou
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


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.


Parallel Mechanism Humanoid Robot Inverse Kinematic Biped Robot Nominal Position 
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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Ramzi Sellaouti
    • 1
  • Atsushi Konno
    • 1
  • Fethi Ben Ouezdou
    • 1
  1. 1.Laboratoire de Robotique de ParisUPMC — UVSQ — CNRSFrance

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