Institutional Repository of Chinese Acad Sci, Inst Adv Mfg Technol, Hefei Inst Phys Sci, Huihong Bldg,Changwu Middle Rd 801, Changzhou 213164, Jiangsu, Peoples R China
Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization | |
Yao, Peng1,2; Li, Tao2; Luo, Minzhou3; Zhang, Qingqing1,2; Tan, Zhiying2 | |
2017-12-01 | |
发表期刊 | INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS |
ISSN | 0219-8436 |
摘要 | A new torso structure for a humanoid robot has been proposed. The structural characteristics and functions of human torso have been considered to gain inspirations for design purposes. The proposed torso structure consists of six revolute units divided into two basic categories connected in a serial chain mechanism. The proposed torso structure shows more advantages compared to traditional humanoid robots in terms of high degrees of freedom (DOFs), high stiffness, self-locking capabilities, as well as easy-to-control features. Bionic optimization design based on objective function method has been implemented on structural design for better motion performances. A 3D model has been elaborated and simulated in SolidWorks and ADAMS environments for structural design and kinematic simulation purposes, respectively. Simulation results show that the new bionic torso structure is able to well imitate movements of human torso. |
关键词 | Humanoid robot human spine torso structure mechanism design bionic optimization |
DOI | 10.1142/S0219843617500104 |
关键词[WOS] | PLATFORM |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61401437] ; National Natural Science Foundation of China[51405469] ; National Natural Science Foundation of China[51405469] ; National Natural Science Foundation of China[61401437] |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:000415365600002 |
出版者 | WORLD SCIENTIFIC PUBL CO PTE LTD |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.hfcas.ac.cn:8080/handle/334002/35967 |
专题 | 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 | Li, Tao |
作者单位 | 1.Univ Sci & Technol China, Dept Precis Machinery & Precis Instrumentat, Hefei 230022, Anhui, Peoples R China 2.Chinese Acad Sci, Inst Adv Mfg Technol, Hefei Inst Phys Sci, Changzhou 213164, Peoples R China 3.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei 210031, Anhui, Peoples R China |
推荐引用方式 GB/T 7714 | Yao, Peng,Li, Tao,Luo, Minzhou,et al. Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization[J]. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS,2017,14(4):21. |
APA | Yao, Peng,Li, Tao,Luo, Minzhou,Zhang, Qingqing,&Tan, Zhiying.(2017).Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization.INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS,14(4),21. |
MLA | Yao, Peng,et al."Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization".INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 14.4(2017):21. |
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