@inproceedings{5af5646a8720459b9ed65470ee8db2ba,
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.",
author = "Gim, {Kevin G.} and Joohyung Kim and Katsu Yamane",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",
year = "2018",
month = sep,
day = "10",
doi = "10.1109/ICRA.2018.8460733",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6076--6081",
booktitle = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018",
address = "United States",
}