제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2002년도 ICCAS
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- Pages.105.6-105
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- 2002
Development of an autonomous biped walking robot
- hyeung-sik choi (Korea maritime univ.) ;
- Oh, jeong-min (Korea maritime univ.) ;
- Kim, young-sik (Korea maritime univ.) ;
- Baek, chang-yul (Korea maritime univ.)
- 발행 : 2002.10.01
초록
Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...
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