Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2003.07d
- /
- Pages.2411-2413
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- 2003
Development of Biped Walking Robot and Its Swing Motion
이족 보형로봇 개발과 그네 운동
- Park, Seong-Hoon (Div. of Elec. and Info Eng. Chonbuk Nat'l. Univ.) ;
- Kim, Jee-Hong (Div. of Elec. and Info Eng. Chonbuk Nat'l. Univ.) ;
- Yi, Soo-Yeong (Div. of Elec. and Info Eng. Chonbuk Nat'l. Univ.) ;
-
Chong, Kil-To
(Div. of Elec. and Info Eng. Chonbuk Nat'l. Univ.)
;
- Sung, Young-Whee (Dept. of Elec. Eng, Kumoh Nat'l Inst. of Tech.)
- 박성훈 (국립 전북대학교 전자정보공학부) ;
- 김지홍 (국립 전북대학교 전자정보공학부) ;
- 이수영 (국립 전북대학교 전자정보공학부) ;
-
정길도
(국립 전북대학교 전자정보공학부)
;
- 성영휘 (국립 금오공과대학교 전자공학부)
- Published : 2003.07.21
Abstract
A new small humanoid robot system is developed in this paper. The humanoid robot has total 20 DOFs : 6 DOFs in each legs, 3 DOFs in each arms, and 2 DOFs in head, 34cms in height, and 2kgs in weight. The robot has the following characteristics: (1) PDA as host controller (2) network-based joint controller (3) wireless camera attached in robot's head (4) mechanism design by CATIA and high speed laser prototyping (5) graphic MMI(Man-Machine Interface) utilizing the CATIA data. By using ADXL inclination sensor, we implement the rope swing with the robot leg motion as well as walking.
Keywords