Conference proceeding
Development of the Skewed Rotation Plane (SRP) Waist Joint for Humanoid Robots
2013 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA), pp 1-6
01 Jan 2013
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
As humanoid robotics advances beyond bipedal walking, complex motions involving the whole body are necessary. Most recent humanoids represent the range of motion of the human spine with a single rotation joint. While this joint allows the body to swing during dynamic walking, any bending must be performed only with the legs. This paper develops a skewed rotation plane (SRP) waist joint to give a humanoid robot the same range of torso motion as a human. The SRP design reduces holding torque compared to a orthogonal-axis joint. An inverse kinematics solver using Jacobian Pseudo-inverse was developed to produce smooth torso orientation trajectories. Finally, a mechanical prototype developed and fitted to Drexel University's Jaemi Hubo to verify and validate the model.
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3 citations in Scopus
Details
- Title
- Development of the Skewed Rotation Plane (SRP) Waist Joint for Humanoid Robots
- Creators
- Robert W. Ellenberg - Drexel UniversityRichard Vallett - Drexel UniversityR. J. Gross - Drexel Univ, Philadelphia, PA 19104 USABrittany Nutt - Drexel UniversityPaul Y. Oh - Drexel UniversityIEEE
- Publication Details
- 2013 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA), pp 1-6
- Series
- IEEE International Conference on Technologies for Practical Robot Applications
- Publisher
- IEEE
- Number of pages
- 6
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Pennsylvania Fabric Discovery Center
- Web of Science ID
- WOS:000326807200014
- Scopus ID
- 2-s2.0-84883360740
- Other Identifier
- 991019170572104721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Engineering, Electrical & Electronic
- Robotics