Implementation of a Large-Scale Biped Robot Using Serial-Parallel Hybrid Leg Mechanism

Kevin G. Gim, Joohyung Kim

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2022 19th International Conference on Ubiquitous Robots, UR 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages115-121
Number of pages7
ISBN (Electronic)9781665482530
DOIs
StatePublished - 2022
Event19th International Conference on Ubiquitous Robots, UR 2022 - Jeju, Korea, Republic of
Duration: Jul 4 2022Jul 6 2022

Publication series

Name2022 19th International Conference on Ubiquitous Robots, UR 2022

Conference

Conference19th International Conference on Ubiquitous Robots, UR 2022
Country/TerritoryKorea, Republic of
CityJeju
Period7/4/227/6/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Mechanical Engineering
  • Control and Optimization

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