The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of SEROPI as a wheel-based humanoid robot

바퀴기반 휴머노이드 로봇 SEROPI 개발

  • 최무성 (한국생산기술연구원 지능운동연구팀) ;
  • 신은철 (한국생산기술연구원 지능운동연구팀) ;
  • 양광웅 (한국생산기술연구원 지능운동연구팀) ;
  • 김홍석 (한국생산기술연구원 지능운동연구팀)
  • Published : 2008.02.29
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Abstract

Many researchers are studying on humanoid robots in all over the world. However the humanoid robots are still limited in doing works like picking up objects on the ground or moving rapidly. In this study, a humanoid robot based on the wheel-driving was developed. It can operate with a human working area keeping the stability. Also, the developed robot can take up the object on the floor since it has knee(1DoF) and waist(3DoF), and do service quickly and steadily. The hardware and software structure and algorithms of the developed robot, SEROPI are introduced in this paper.

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