Design of a 3-DOF Coupled Tendon-Driven Waist Joint
Yiwei Wang Wenyang Li Shunta Togo Hiroshi Yokoi Yinlai Jiang Yiwei Wang Wenyang Li Shunta Togo Hiroshi Yokoi Yinlai Jiang
This paper proposes a coupled tendon-driven waist joint for humanoid robots. The waist joint was designed as a 3 degrees of freedom (DOF) structure to simulate the motion of a human waist. The power transmission was designed by adopting a 3-motor 3-DOF (3M3D) coupled tendon-driven mechanism, so that the torque on the joints was multiplied. We derived the torque transmission formula and the rotatio...