Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Development of a Human-Sized Biped Walking Robot

인체형 이족보행로봇의 개발

  • Published : 2002.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

We developed a new type of 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 10 degree-of-freedom robot with two balancing joints 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 robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

Keywords

References

  1. A. Takanishi, M. Ishida, Y. Yamazaki, I. Kato, 'The realization of dynamic walking by the biped walking robot WL-10RD,' Journal of the Robotics Society of Japan, vol. 3, no. 4, pp. 325-336, 1985 https://doi.org/10.7210/jrsj.3.325
  2. F. Gubina, H. Hemami, ;R. B. McGhee, 'On the dynamic Stability of Biped Locomotion,' IEEE trans. on Biomd. Engineering, vol. BME-21, pp. 102-108, 1974 https://doi.org/10.1109/TBME.1974.324294
  3. Y. F. Zheng, 'Acceleration compensation for biped robots to reject external disturbance,' IEEE Trans. Sys. Man. and Cyber, pp. 74-84, 1989 https://doi.org/10.1109/21.24533
  4. Sun-Ho Lim and Jin-Geol Kim, 'Biped locomotion with mechnical compliance, ' (In Korean) Korea Robotica and Automation Workshop Conference, pp. 21-25, 1992
  5. K. J. Waldron, 'Realization fo dynamic bited walking stabilized with trunk motion under known external force,' Advanced Robotics, pp. 299-310, 1989
  6. P. H. Shannon, S. H. Hopkins, D. T. Pham, 'Derivation of optimal walking motions for a bipedal walking robot,' ROBOTICA, pp. 165-171, 1991
  7. M. Yamada, J. Furusho, A. Sano, 'Dynamics control of walking robot with kick-action,' ICRA, pp. 405-412, 1985
  8. Y. F. Zheng, 'Acceleration compensation for biped robots to reject external distubance,' IEEE Trans. Sys. Man. and Cyber, pp. 74-84, 1989 https://doi.org/10.1109/21.24533
  9. J. Yamaguchi, D. Nishino, A. Takanishi, 'Realization of dynamic biped walking varying joint stiffiness using antagonistic driven joins,' International Conference on Robotica & Automation Proc. of IEEE, pp. 2022-2029, 1998 https://doi.org/10.1109/ROBOT.1998.680612
  10. K. Hirai, M. Hirose, Y. Haidawa, T. Takenaka, 'The development of honda humanoid robot,' International Conference on Robotica & Automation Proc. of IEEE, pp. 1321-1326, 1998 https://doi.org/10.1109/ROBOT.1998.677288
  11. 이종원, '휴먼로봇 시스템 개발 사례,' Proc. of KIEE, vol. 47, no. 10, pp. 18-22, 1998
  12. T. T. Lee and J. Liao, 'Trajectory planning and control of a 3-link biped robot,' IEEE Robitics and Automation, pp. 820-823, 1988 https://doi.org/10.1109/ROBOT.1988.12161
  13. S. G. Tzafestas, M. Raibert and C. S. Tzafestas, 'Robust sliding-mode control applied to a 5-Link Biped Robot,' J. Intelligent. and Robotic Systems, vol. 15, no. 1, pp. 67-133, 1996 https://doi.org/10.1007/BF00435728
  14. S. G. Tzafestas, T. E. Krikopchoritis and C. S. Tzafestas, 'Robust sliding -mode control of nine-link biped robot walking,' J. Intelingent and Robotic Systems, vol. 20, no. 24, pp. 375-402, 1997 https://doi.org/10.1023/A:1007924731253
  15. S. G. Tzafestas, R. E. Krikochoritis and C. S. Tzafestas, 'Robust-adaptive gait control of a 9-link biped robot,' Syst. Anal. Modelling Simul., vol. 31, no. 4, pp. 247-304, 1998