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    請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/80562

    題名: Mechanical design of small-size humanoid robot: HIWIN MAN
    作者: Wong, Ching-Chang;Chan, Hsiang-Min;Hu, Yueh-Yang;Wang, Chuan-Wei
    貢獻者: 淡江大學電機工程學系
    日期: 2012-07-01
    上傳時間: 2013-02-18 13:18:19 (UTC+8)
    出版者: Valencia: American Scientific Publishers
    摘要: A structure design and a mechanical design of a humanoid robot named HIWIN MAN are described in this paper. This humanoid robot with 23 DOFs (degrees of freedom) is designed so that it is able to accomplish some human-like motions. The height and the weight of HIWIN MAN are 59 cm and 4.5 kg, respectively. There are 2 DOFs on the head, 4 DOFs on each arm, 1 DOF on the waist, and 6 DOFs on each leg. In the structure design of HIWIN MAN, the design concept, actuators model and frameworks are described. In the mechanical design of HIWIN MAN, the 3D design and the mechanism dimension of the head, waist, arms, and legs are described. Finally, three basic walking experiments of HIWIN MAN are presented to illustrate that the proposed mechanical structure is able to let HIWIN MAN walk forward, turn, and slip effectively.
    關聯: Advanced Science Letter 14 (1), pp.10-17
    DOI: 10.1166/asl.2012.3984
    顯示於類別:[電機工程學系暨研究所] 期刊論文


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