Concept and Design of the Modular Actuator System for the Humanoid Robot MYON

Siedel, Torsten; Hild, Manfred; Weidner, Mario

doi:10.1007/978-3-642-25486-4_39

Cited by 6 publications

(2 citation statements)

References 9 publications

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“…It plays an important role in human movements. Most presented humanoid robots [1][2][3][4][5] are weak in aspects of high flexibility and large range of motions due to their oversimplified torso structures with 1-3 DOFs in waist.…”

Section: Introductionmentioning

confidence: 99%

Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso

Yao

Luo

et al. 2018

International Journal of Advanced Robotic Systems

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This article presents a bioinspired humanoid torso which is supposed to be used as the trunk for humanoid robots. It can effectively mimic motions of human torso with high degrees of freedom, and it has high stiffness and easy-to-control features. The main structure of the proposed torso is a six-degree-of-freedom serial mechanism with twist angles that are not equal to 0, p/2 or p and zero-length links. Forward kinematic and workspace analysis based on Denavit-Hartenberg and Monte Carlo methods have been formulated to analyze the feasibility of this structure. In addition, a hybrid method combing the large-scale regularity search capabilities of chaos optimization and the quasi-Newton method with relatively high-speed convergence has been proposed to analyze inverse kinematics. Simulations are carried out with the aim to validate the correctness and efficiency of this method for studying the inverse kinematics.

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Section: Introductionmentioning

confidence: 99%

Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso

Yao

Luo

et al. 2018

International Journal of Advanced Robotic Systems

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“…HRP [6][7][8] series developed at AIST set up two DOFs (Pitch-Yaw) in waist; iCub 9 of IIT has three DOFs (Roll-Pitch-Yaw) in torso; WABIAN-2 10 developed at Waseda University has four DOFs (Roll-Yaw-Pitch-Yaw) in waist and torso; Myon 11 of Humboldt University adopted a rotary joint (Roll) in waist. In addition, BHR-2 12 built in the Beijing Institute of Technology has been designed with a box-like shape torso of zero DOF; IRP-1 13 developed by Hefei Institutes of Physical Science has two DOFs (Pitch-Yaw) in torso.…”

Section: Introductionmentioning

confidence: 99%

Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization

Yao

Luo

et al. 2017

Int. J. Human. Robot.

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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 sti®ness, 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.

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An Interactively Constrained Neuro-Evolution Approach for Behavior Control of Complex Robots

Rempis

Pasemann

2012

Variants of Evolutionary Algorithms for Real-World Applications

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Concept and Design of the Modular Actuator System for the Humanoid Robot MYON

Cited by 6 publications

References 9 publications

Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso

Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso

Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization

An Interactively Constrained Neuro-Evolution Approach for Behavior Control of Complex Robots

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