Publication

Hanyang University HumanRobotics Lab

International Journal
Design of a Redundantly Actuated Hip Mechanism
Journal
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
Vol
Vol. 49, No. 1
Page
pp. 253-259
Author
B. R. So, B.-J Yi
Year
2006
Date
2006.03.10
File
Design of a Redundantly Actuated Hip Mechanism.pdf (1.9M) 1회 다운로드 DATE : 2020-10-18 16:19:54
Abstract: In humanoid robotic system, many human-body motions such as walking, running, and jumping require large power. As one effort to achieve such high power-to-weight ratio, this paper proposes a new hip design using parallel kinematic chain involving redundant actuators. The kinematics for the hip mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant actuator into the hip mechanism enhances the power of the mechanism approximately 4 times of the minimum actuation. And the validity of the simulation result was verified through experimental works.