Abstract
This article presents a bioinspired humanoid torso which is supposed to be used as the trunk for humanoid robots. It can effectively mimic motions of human torso with high degrees of freedom, and it has high stiffness and easy-to-control features. The main structure of the proposed torso is a six-degree-of-freedom serial mechanism with twist angles that are not equal to 0, π/2 or π and zero-length links. Forward kinematic and workspace analysis based on Denavit–Hartenberg and Monte Carlo methods have been formulated to analyze the feasibility of this structure. In addition, a hybrid method combing the large-scale regularity search capabilities of chaos optimization and the quasi-Newton method with relatively high-speed convergence has been proposed to analyze inverse kinematics. Simulations are carried out with the aim to validate the correctness and efficiency of this method for studying the inverse kinematics.
Highlights
The environment of modern society is designed for mankind
While the BFGS method is used to obtain the exact solution of the high-dimensional sub-nonlinear equation, the chaos-BFGS method includes the global search capabilities of the chaos optimization and the high local convergence rate of the BFGS quasi-Newton method, so the hybrid approach has excellent performance in theory compared to other methods
The characteristics of the proposed bioinspired humanoid torso based on a general 6-DOF serial mechanism with twist angles that are not equal to 0, p/2 or p and zerolength links have been investigated
Summary
The environment of modern society is designed for mankind. For example, the height of staircase, the shape of the driver’s seat and the position of the handrail are all designed according to human size and movement. A new humanoid torso has been proposed based on a special 6-DOF serial mechanism with twist angles that are not equal to 0, p/2 or p and zero-length links with the inspirations of human bionics. It’s not clear whether the proposed new humanoid torso based on a special 6-DOFs mechanism could achieve continuous typical motion actions in Cartesian space.
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