@inproceedings{fbbb47bffc50498db59747202d6bbfad,
title = "Design and Fabrication of a Bipedal Robot Using Serial-Parallel Hybrid Leg Mechanism",
abstract = "In this paper, we present the design and performance evaluation of a bipedal robot that utilizes the Hybrid Leg mechanism. It is a leg mechanism that achieves 6 DOF with a combined structure of serial and parallel mechanism. It is designed to have a light structural inertia and large workspace for agile bipedal locomotion. A new version of Hybrid Leg is fabricated with carbon fiber tubes and bearings to improve its structural rigidity and accuracy while supporting its weight. A pair of Hybrid Legs is assembled together for bipedal locomotion. In the assembly, we adopt a pelvis structure with an yaw angle offset to enlarge the feet workspace, inspired by the toe-out angle of the human feet. The workspace and range of velocity are presented in simulation and verified with hardware experiments. We also demonstrate a simple forward walking motion with the developed robot.",
author = "Gim, {Kevin G.} and Joohyung Kim and Katsu Yamane",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",
year = "2018",
month = dec,
day = "27",
doi = "10.1109/IROS.2018.8594182",
language = "English (US)",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5095--5100",
booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018",
address = "United States",
}