Design of a Serial-Parallel Hybrid Leg for a Humanoid Robot

ICRA 2018 Spotlight Video
Interactive Session Thu AM Pod N.3
Authors: Gim, Kevin Genehyub; Kim, Joohyung; Yamane, Katsu
Title: Design of a Serial-Parallel Hybrid Leg for a Humanoid Robot
Abstract:
This paper presents a 6 DOF leg mechanism for a humanoid robot. The proposed Hybrid Leg is designed to combine serial and parallel mechanisms and consists of a pair of twin 3 DOF serial chains in parallel. A 5-bar-linkage mechanism is implemented to the serial mechanism to generate 2 DOF motion regarding hip and knee pitch rotation. The hardware prototype is designed by matching the kinematic specification of a commercial robot s leg to compare the proposed mechanism with a conventional serial leg. We derive the analytical expressions of its forward and inverse kinematics. End-effector workspaces are shown with plots and inverse dynamics analysis of Hybrid Leg and serial leg with a given walking gait trajectory is presented. Hardware experiment is conducted with a prototype to verify the simulated workspace and trajectory tracking performance.

[@47lokeshkumar74]

Good

[@Bajicoy]

Hi, I'm having fun 3D printing my own version of your legs with hobby servos and arduino as a surprise for my school's club, thanks for sharing with everyone such a unique idea for robot legs rather than keeping it all private because there are a lot of clever ideas especially behind how the ankle handles strain relief while still being able to articulate the foot that I just didn't realize until I tried modeling it out for myself. Your second iteration with carbon fiber looks really cool and congrats on getting it walking!
I am still modeling and printing adjusted pieces but was wondering if I could share my progress with you for your thoughts and tips.
(Heads up, the link to your paper in your second video is down, I'm not sure if that was intentional because the link in the video is still there).

[@AkashJadhavIT]

Hi Daniel, would it be possible for you to make a video about your robot and how you code it. it would be beneficial for beginners like me.
I am new to Arduino and my ultimate goal is to build a bipedal Robot using Arduino if you could share your ideas or designs it would be very helpful

[@midoriyaa.2749]

Can I also build the same leg for my Robot without getting any problems?

[@williamhuang5329]

Hanzhen harmonic drive gear , robot gear , over 30 years experience

[@samuelgonzalez7783]

What code runs this?

[@luunhattruong2384]

I think it's C#

[@gabrielhofmann2029]

could be done in matlab too, on the simscape add-on

[@yash1152]

why's disney doing such researches?

[@_The_Phantom]

Animatronics or toys maybe