Parallel Manipulator Hip Joint for a Bipedal Robot

Abstract

By now at the institute of automatic control, the two-legged robot LISA (Legged intelligent service agent) is in completion. As a hip joint a spherical parallel manipulator with three degrees of freedom is used presumably for the first time inside a bipedal robot. This article describes the construction of the hip joint as well as the derivation of the analytical kinematic equations which describe the parallel manipulator. The article ends with a short presentation of the explored workspace for the real joint.