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Fründ, Konrad and Shu, Anton Leonhard and Loeffl, Florian Christoph and Ott, Christian (2023) A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. IEEE. 2022 IEEE-RAS International Conference on Humanoid Robots, 2022-11-28 - 2022-11-30, Ginowan, Japan. doi: 10.1109/Humanoids53995.2022.10000126. ISBN 979-835030979-9. ISSN 2164-0572.
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Official URL: https://ieeexplore.ieee.org/document/10000126
Abstract
The kinematics of humanoid robots are strongly inspired by the human archetype. A close analysis of the kinematics of the human musculoskeletal system reveals that the human joint axes are oriented within certain inclinations. This is in contrast to the most popular humanoid design with a configuration based on perpendicular joint axes. This paper reviews the oblique joint axes of the mainly involved joints for locomotion of the human musculoskeletal system. We elaborate on how the oblique axes affect the performance of walking and running. The mechanisms are put into perspective for the locomotion types of walking and running. In particular, walking robots can highly benefit from using oblique joint axes. For running, the primary goal is to align the axis of motion to the mainly active sagittal plane. The results of this analysis can serve as a guideline for the kinematic design of a humanoid robot and a prior for optimization-based approaches.
| Item URL in elib: | https://elib.dlr.de/192270/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Other) | ||||||||||||||||||||
| Additional Information: | Best Interactive Paper Award | ||||||||||||||||||||
| Title: | A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion | ||||||||||||||||||||
| Authors: |
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| Date: | 5 January 2023 | ||||||||||||||||||||
| Journal or Publication Title: | 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022 | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||
| DOI: | 10.1109/Humanoids53995.2022.10000126 | ||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||
| ISSN: | 2164-0572 | ||||||||||||||||||||
| ISBN: | 979-835030979-9 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | Humanoid Leg Design; Bipedal Locomotion; Oblique Axes | ||||||||||||||||||||
| Event Title: | 2022 IEEE-RAS International Conference on Humanoid Robots | ||||||||||||||||||||
| Event Location: | Ginowan, Japan | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 28 November 2022 | ||||||||||||||||||||
| Event End Date: | 30 November 2022 | ||||||||||||||||||||
| Organizer: | IEEE-RAS | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Walking robot/locomotion [RO] | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||
| Deposited By: | Fründ, Konrad | ||||||||||||||||||||
| Deposited On: | 14 Dec 2022 19:37 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:53 |
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