대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2003년도 춘계학술대회
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- Pages.805-809
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- 2003
자립형 이족 보행 로봇의 개발
Development of Autonomous Biped Walking Robot
초록
We developed a human-sized BWR(biped walking robot) named KUBIR1 driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIR1 was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize the information on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interface was developed based on the OpenGL tool. Through the graphic interface, the control input of KUBIR1 is performed.