In the humanoid robots, waist mechanism is an important structure to realize the whole body coordinated movement. This paper proposes a series–parallel mechanism of waist structure, and its kinematics and dynamics characteristics are studied. Based on the dynamic model, a backstepping sliding mode controller is designed to simulate control performance. Under the continuous disturbance force, the stability and accuracy of the mechanism are verified. Compared with the experiment, the results prove that the waist mechanism has the biomimetic spine movements and desired control performance, which can be applied to life support robots in the future.
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Li et al. (2024) studied this question.
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