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

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-de... Full description

Journal Title: International Journal of Advanced Robotic Systems 28 December 2017, Vol.15(1)
Main Author: Li, Tao
Other Authors: Yao, Peng , Luo, Minzhou , Tan, Zhiying , Wang, Meiling , Guo, Ziyi
Format: Electronic Article Electronic Article
Language: English
Subjects:
ID: E-ISSN: 1729-8814 ; DOI: 10.1177/1729881417748126
Link: https://journals.sagepub.com/doi/full/10.1177/1729881417748126
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recordid: sage_s10_1177_1729881417748126
title: Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso
format: Article
creator:
  • Li, Tao
  • Yao, Peng
  • Luo, Minzhou
  • Tan, Zhiying
  • Wang, Meiling
  • Guo, Ziyi
subjects:
  • Humanoid Robot
  • Torso
  • Serial Robot
  • Kinematics Analysis
  • Numerical Method
  • Engineering
ispartof: International Journal of Advanced Robotic Systems, 28 December 2017, Vol.15(1)
description: 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, π/2 or π 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.
language: eng
source:
identifier: E-ISSN: 1729-8814 ; DOI: 10.1177/1729881417748126
fulltext: fulltext_linktorsrc
issn:
  • 1729-8814
  • 17298814
url: Link


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titleDesign and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso
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identifierE-ISSN: 1729-8814 ; DOI: 10.1177/1729881417748126
subjectHumanoid Robot ; Torso ; Serial Robot ; Kinematics Analysis ; Numerical Method ; Engineering
descriptionThis 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, π/2 or π 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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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, π/2 or π 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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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, π/2 or π 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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date2017-12-28