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http://dx.doi.org/10.5391/JKIIS.2015.25.3.248

Design and Walking of Child-typed Humanoid Robot  

Lee, Ki-Nam (Dept. Control Engineering and Robotics, Mokpo National University)
Ryoo, Young-Jae (Dept. Control Engineering and Robotics, Mokpo National University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.25, no.3, 2015 , pp. 248-253 More about this Journal
Abstract
In order to adapt to human's life and perform missions, a humanoid robot needs a height at least similar with children's. In this paper, we proposed a humanoid robot which is like a child who is taller than 1m. We presented showing the humanoid robot's kinematics, designing of a three-dimensional model, developing mechanisms, and the hardware structures using servo motors and compact size PC. Through this process, we designed and manufactured child humanoid robot 'CHARLES(Cognitive Humanoid Autonomous Robot with Learning and Evolutionary Systems)' that is robot is 1m 10cm tall and 8.16kg in weight. For robot's walking, we applied to ZMP-based walking technique and the creation algorithm is applied for walking patterns. Through experiments, we analyzed walking patterns according to the creation and changing parameter values.
Keywords
Child-typed; Humanoid; Walking; Zero Moment Point; CHARLES;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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