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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/75481


    Title: Mechanical design of small-size humanoid robot TWNHR-3
    Authors: 翁慶昌;Wong, Ching-chang;鄭吉泰;Cheng, Chi-tai;Huang, Kai-hsiang;Yang, Yu-ting;Chan, Hsiang-min;Yin, Chii-sheng
    Contributors: 淡江大學電機工程學系
    Date: 2007-11
    Issue Date: 2012-03-29 16:07:15 (UTC+8)
    Publisher: IEEE Industrial Electronics Society
    Abstract: 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.
    Relation: Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE, pp.451-454
    DOI: 10.1109/IECON.2007.4460390
    Appears in Collections:[電機工程學系暨研究所] 會議論文

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