대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

새로운 관절 기구를 갖는 소형 휴머노이드에 관한 연구

Development of miniaturized humanoid with new joint mechanism

  • 강택기 (국립 전북대학교 전자정보공학부) ;
  • 박성훈 (국립 전북대학교 전자정보공학부) ;
  • 이수영 (국립 전북대학교 전자정보공학부)
  • Gang, Taig-Gi (Division of Electronics and Information Engineering Chonbuk National University) ;
  • Park, Seong-Hoon (Division of Electronics and Information Engineering Chonbuk National University) ;
  • Yi, SooYeong (Division of Electronics and Information Engineering Chonbuk National University)
  • 발행 : 2004.07.14
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, we developed a miniaturized humanoid having the new joint mechanism. In general, the high torque actuator and the joint mechanism having three coincided axes are important in development of the miniaturized humanoid. By using the swash plate, which is generally used in three axes rotor mechanism, we developed a new three-coincided-axes joint mechanism and a miniaturized humanoid having the joint mechanism at its hip and ankle joints. Since the joint mechanism has a pair of parallel drive motors for each axis, the driving torque of the joint mechanism is very high. Futhermore, thanks to the three-coincided-axes mechanism, the solution of the inverse kinematics is simple and computationally efficient, and the resulting walking behavior of the humanoid becomes natural.

키워드