Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A study on the Biped Walking Robot applying a Gravity Compensator

중력보상기를 적용한 이족보행로봇 연구

  • Received : 2009.12.11
  • Accepted : 2010.05.02
  • Published : 2010.07.01
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Abstract

In this paper, the structure of a new gravity compensator was studied, and the biped walking robot applying a gravity compensator was presented to improve the performance of the robot. The robot had 13 degree of freedom and is driven by the joint actuator with the gravity compensator. Each leg of the robot is composed of six joints three joints at the hip, a joint at the knee, and two joints at the ankle. The leg of the robot was designed to support 74kg weight including 30kg payload thanks to the gravity compensator. The performance of the robot was presented by reducing the payload applied to the leg joint of the robot thanks to the gravity compensator.

Keywords

References

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