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Mechanical Design of Small-Size Humanoid Robot: TWNHR-VI

  • Conference paper
Trends in Intelligent Robotics (FIRA 2010)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 103))

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Abstract

A mechanical structure with 23 DOFs (degrees of freedom) is proposed so that an implemented small-size humanoid robot named TWNHRVI is able to accomplish some human-like walking motions. The height and weight of the implemented robot is 55 cm and 3.7 kg, respectively. There are 2 DOFs on the head, 1 DOF on the trunk, 4 DOFs on each arm, and 6 DOFs on each leg. Three basic walking experiments of TWNHR-VI are presented to illustrate that the proposed mechanical structure lets the robot walk forward, turn, and slip effectively.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Tamkang University, 151, Ying-Chuan Rd. Tamsui, Taipei County, 25137, Taiwan, R.O.C.

    Hsiang-Min Chan, Kai-Hsiang Huang, Yueh-Yang Hu & Ching-Chang Wong

Authors
  1. Hsiang-Min Chan
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  2. Kai-Hsiang Huang
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  3. Yueh-Yang Hu
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  4. Ching-Chang Wong
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Editor information

Editors and Affiliations

  1. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Tan Kok Kiong  & 

  2. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea

    Jong-Hwan Kim

  3. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  4. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore

    Abdullah Al Mamun

  5. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes  & John Anderson  & 

  6. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

  7. Trinity College, Hartford, CT, USA

    David Ahlgren

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© 2010 Springer-Verlag Berlin Heidelberg

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Chan, HM., Huang, KH., Hu, YY., Wong, CC. (2010). Mechanical Design of Small-Size Humanoid Robot: TWNHR-VI. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_13

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  • DOI: https://doi.org/10.1007/978-3-642-15810-0_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-15809-4

  • Online ISBN: 978-3-642-15810-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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