Mechanical design of small-size humanoid robot TWNHR-3

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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:	[Graduate Institute & Department of Electrical Engineering] Proceeding

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