Development of the lower limbs for a humanoid robot

Joohyung Kim, Younbaek Lee, Sunggu Kwon, Keehong Seo, Hoseong Kwak, Heekuk Lee, Kyungsik Roh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper gives an overview of the development of a novel biped walking machine for a humanoid robot, Roboray. This lower-limb robot is designed as an experimental system for studying biped locomotion based on force and torque controlled joints. The robot has 13 actuated DOF and torque sensors are integrated at all the joints except the waist joint. We designed a new tendon type joint modules as a pitch joint drive module, which is highly back-drivable and elastic. We also built a decentralized control system using the small controller boards named Smart Driver. The forward walking experiment with this lower limbs was conducted to test the mechanical structure and control system.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages4000-4005
Number of pages6
DOIs
StatePublished - Dec 1 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country/TerritoryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint

Dive into the research topics of 'Development of the lower limbs for a humanoid robot'. Together they form a unique fingerprint.

Cite this