Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

The Development of a Miniature Humanoid Robot System

소형 휴머노이드 로봇 시스템 개발

  • Sung, Young-Whee (Dept.of Electronics Engineering, Kumoh National Institute of Technology) ;
  • Yi, Soo-Yeong (Dept.of Electronics Information Engineering, Chonbuk National University)
  • 성영휘 (금오공과대학교 전자공학부) ;
  • 이수영 (전북대학교 전자정보공학부)
  • Published : 2001.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.

Keywords

References

  1. Jin'ichi Yamaguchi, et al, 'Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2022-2029, 1998 https://doi.org/10.1109/ROBOT.1998.680612
  2. Y. Fujimoto and A. Kawamura, 'Three dimensional digital simulation and autonomous walking control for eight-axis biped robot,' Proc. of Int. Conf. on Robotics and Automation, pp. 2877-2884, 1995 https://doi.org/10.1109/ROBOT.1995.525692
  3. Satoshi Kagami, et al, 'Design and development of a legged robot research platform JROB-1,' Proc. of Int. Conf. on Robotics and Automation, pp. 146-151, 1998 https://doi.org/10.1109/ROBOT.1998.676343
  4. 김종태, 김진걸, '유전 알고리듬을 이용한 이족 보행 로봇의 균형 궤적 생성에 관한 연구', 제어·자동화·시스템공학 논문지 , vol. 5, no. 8, pp. 969-976, 1999
  5. 이수영, 홍예선, '4족 보행 로봇의 걸음새 안정화를 위한 몸체 임피던스 제어', 전기학회 논문지, 49D권, 5호, pp. 257-263, 2000
  6. Homayoun Seraji, et al, 'Experiments in real-time collision avoidance for dexterous 7-앨 arms,' Proc. of Int. Conf. on Robotics and Automation, pp. 569-574, 1997
  7. 이종원, '휴먼로봇 시스템 개발 사례', Proc. of KIEE. vol. 47, no. 10, pp. 18-22, 1998
  8. Kazuo Hirai, et al, 'The development of Honda humanoid robot,' Proc. of Int. Conf. on Robotics and Automation, pp. 1321-1326, 1998 https://doi.org/10.1109/ROBOT.1998.677288
  9. Fumio Kanehiro, et al, 'Development of a two-armed bipedal robot that can walk and carry objects,' Proc. of IROS'96, pp. 23-28, 1996 https://doi.org/10.1109/IROS.1996.570617
  10. Fumio Kanehiro, et al, 'Development of a remote-brained humanoid for research on whole body action,' Proc. of Int. Conf. on Robotics and Automation, pp. 1302-1307, 1998 https://doi.org/10.1109/ROBOT.1998.677284
  11. A. Takanishi et al., 'Dynamic biped walking stabilized with optimal trunk and waist motion,' Proc. of IROS98, pp. 187-192, 1989
  12. Q. Li, A. Takanish, and I. Kato, 'Learning control of compensative trunk motion for biped walking robot based on ZMP stability criterion', Proc. of IEEE/RSJ IROS'92, pp. 597-603, 1992
  13. M. Yagi, K. Stark, and V. J. Lumelsky, 'Control of planar biped robot locomotion in the presence of disturbances', IASTED Int'l Conf. on Intelligent Systems and Control, pp. 214-217, 1998
  14. RC-Servo motor catalogue, Futaba, 1999
  15. R. Paul, Robot manipulators, MIT Press, 1981