인체형 이족 보행로봇의 개발

Development of Human-Sized Biped Robot

  • 최형식 (한국해양대 기계·정보공학부) ;
  • 박용헌 (한국해양대 대학원 기계공학과) ;
  • 이호식 (한국해양대 대학원 기계공학과) ;
  • 김영식 (한국해양대 대학원 기계공학과)
  • 발행 : 2000.11.01

초록

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR performed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

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