Design of Lower Limbs for a Humanoid Biped Robot

• 영문명: Design of Lower Limbs for a Humanoid Biped Robot
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Jung-Hoon Kim Ill-Woo Park Jun-Ho Oh
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.2 No.4, 5~10쪽, 전체 6쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2001.12.01

영문 초록

  As the first task in the development of a humanoid biped robot, we designed the lower limbs of the robot. After analyzing the torque and speed requirements of all 12 joints by the simulation of motions, we selected the suitable motors, gearheads and pulleys. We developed the lower limbs of the robot based on the simulation results. The trajectory tracking control of each joint angle was performed experimentally. With the off-line trajectory data, the robot successfully imitated walking motions such as a standing up and sitting down motion with one leg. Therefore, we verified the validity of our rough design approach by this experiment.

목차

Abstract
1. Introduction
2. Structure of Robot - lower limbs
3. Selection of Actuators
4. Experiment of driving the lower limbs of humanoid
5. Conclusion
Acknowledgement
References