Mechanical design of small-size humanoid robot TWNHR-3
學年 96
學期 1
發表日期 2007-11-05
作品名稱 Mechanical design of small-size humanoid robot TWNHR-3
作品名稱（其他語言）
著者 翁慶昌; Wong, Ching-chang; 鄭吉泰; Cheng, Chi-tai; Huang, Kai-hsiang; Yang, Yu-ting; Chan, Hsiang-min; Yin, Chii-sheng
作品所屬單位 淡江大學電機工程學系
出版者 IEEE Industrial Electronics Society
會議名稱 Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE
會議地點 Taipei, Taiwan
摘要 In this paper, a mechanical structure with 26 DOFs (degrees of freedom) is proposed so that an implemented small-size humanoid robot named TWNHR-3 is able to accomplish the man-like walking motion. The height and weight of the implemented robot is 46 cm and 3.1 kg, respectively. There are 2 DOFs on the head, 2 DOFs on the trunk, 4 DOFs on each arm, and 7 DOFs on each leg. Some basic walking experiments of TWNHR-3 are presented to illustrate that the proposed mechanical structure lets the robot move forward, turn, and slip effectively.
關鍵字
語言 en
收錄於
會議性質 國際
校內研討會地點
研討會時間 20071105~20071108
通訊作者
國別 TWN
公開徵稿 Y
出版型式
出處 Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE, pp.451-454
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