제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of a Biped Walking Robot Actuated by a Closed-Chain Mechanism

  • Choi, Hyeung-Sik (Division of Mechanical and Information Engineering, Korea Maritime University) ;
  • Oh, Jung-Min (Division of Mechanical and Information Engineering, Korea Maritime University) ;
  • Baek, Chang-Yul (Division of Mechanical and Information Engineering, Korea Maritime University) ;
  • Chung, Kyung-Sik (Division of Mechanical and Information Engineering, Korea Maritime University)
  • Published : 2003.10.22
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Abstract

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

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