TY - GEN
T1 - Implementation of a Large-Scale Biped Robot Using Serial-Parallel Hybrid Leg Mechanism
AU - Gim, Kevin G.
AU - Kim, Joohyung
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper presents our implementation of a large-scale biped robot utilizing Hybrid Leg, a 6 DoF serial-parallel mechanism, having lightweight structure, high payload and large workspace. We set our design goal to make a biped robot taller than an average human height. By applying the Hybrid mechanism and design optimization, the robot was built with a height of 1.84m and a weight of 29.05kg. The implemented robot is able to be actuated by the servo motors used in the smaller humanoid robot. The mechanical design of the robot is explained in detail and kinematics analysis is conducted for analytical solutions. Through multi-body dynamics simulations, the proposed robot design and its performance are verified. In addition, the preliminary performance evaluations for the robot hardware are conducted for a squat experiment and in-place walking experiment.
AB - This paper presents our implementation of a large-scale biped robot utilizing Hybrid Leg, a 6 DoF serial-parallel mechanism, having lightweight structure, high payload and large workspace. We set our design goal to make a biped robot taller than an average human height. By applying the Hybrid mechanism and design optimization, the robot was built with a height of 1.84m and a weight of 29.05kg. The implemented robot is able to be actuated by the servo motors used in the smaller humanoid robot. The mechanical design of the robot is explained in detail and kinematics analysis is conducted for analytical solutions. Through multi-body dynamics simulations, the proposed robot design and its performance are verified. In addition, the preliminary performance evaluations for the robot hardware are conducted for a squat experiment and in-place walking experiment.
UR - http://www.scopus.com/inward/record.url?scp=85136128451&partnerID=8YFLogxK
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U2 - 10.1109/UR55393.2022.9826239
DO - 10.1109/UR55393.2022.9826239
M3 - Conference contribution
AN - SCOPUS:85136128451
T3 - 2022 19th International Conference on Ubiquitous Robots, UR 2022
SP - 115
EP - 121
BT - 2022 19th International Conference on Ubiquitous Robots, UR 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th International Conference on Ubiquitous Robots, UR 2022
Y2 - 4 July 2022 through 6 July 2022
ER -