제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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Design of a 3-DOF Hip Module for Humanoid

  • 발행 : 2002.10.01
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초록

$\textbullet$ To achieve 3 high power-to-weight ratio, design of 3DOF hip module $\textbullet$ Using parallel mechanism and linear actuator consist of a ball-screw mechanism $\textbullet$ The kinematics analysis for the hip module $\textbullet$ A kinematic index to measure actuator power are introduced. $\textbullet$ It is demonstrated throught simulation that incorporation of redu ndant actuator into the hip module

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