TY - GEN
T1 - Development of the lower limbs for a humanoid robot
AU - Kim, Joohyung
AU - Lee, Younbaek
AU - Kwon, Sunggu
AU - Seo, Keehong
AU - Kwak, Hoseong
AU - Lee, Heekuk
AU - Roh, Kyungsik
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2012.6385728
DO - 10.1109/IROS.2012.6385728
M3 - Conference contribution
AN - SCOPUS:84872312982
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4000
EP - 4005
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -