Jul. 2008 Mechanical design of small-size humanoid robot: TWNHR-IV
- 出版日期
- Jul. 2008
- 名稱
- Mechanical design of small-size humanoid robot: TWNHR-IV
- 分類
- Journal of Harbin Institute of Technology, vol.15, sup. 2, pp.21-34
- 摘要 與 說明
- A mechanical structure with 26 degrees of freedom is proposed so that an implemented small-size humanoid robot named TWNHR-IV is able to accomplish some human-like walking motions. The height and weight of the implemented robot is 43 cm and 3.4 kg, respectively. There are 2 degrees of freedom on the head, 2 degrees of freedom on the trunk, 4 degrees of freedom on each arm, and 7 degrees of freedom on each leg. Three basic walking experiments of TWNHR-IV are presented to illustrate that the proposed mechanical structure lets the robot move forward, turn, and slip effectively. Keyword: Soccer robot, Humanoid robot