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http://dx.doi.org/10.5302/J.ICROS.2002.8.6.484

Development of a Human-Sized Biped Walking Robot  

최형식 (한국해양대학교)
박용헌 (한국해양대학교)
김영식 (한국해양대학교)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.6, 2002 , pp. 484-491 More about this Journal
Abstract
We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. 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. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.
Keywords
biped walking robot; ball screw actuator; four bar link;
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