Title :
Development of a humanoid robot capable of handling heavy objects
Author :
Choi, Hyeung-sik ; Na, Wonhyun ; Kang, Dongwan
Author_Institution :
Div. of Mech. & Inf. Eng., Korea Maritime Univ., Seoul
Abstract :
A new type of human-sized 28 d.o.f. humanoid robot driven by the closed-chain type of joint actuator was developed. Each leg of the robot is composed of six joints: three joints of them are at the hip, one joint at the knee, and two joints at the ankle. Also, the robot has six joints for each arm, one balancing joint, and three joints for the head with two cameras. The weight of the robot is 75(Kg) and the height is 168(cm).
Keywords :
actuators; humanoid robots; manipulator kinematics; mobile robots; ball screw; closed-chain type joint actuator; four-bar-link mechanism; humanoid robot; leg joint motors; mass 10 kg; mass 15 kg; mass 20 kg; mass 75 kg; mass 8.5 kg; mass 95 kg; pitching joint actuators; robot arm kinematics; robot leg kinematics; size 168 cm; walking tests; Actuators; Hip; Humanoid robots; Joints; Leg; Legged locomotion; Manipulators; Payloads; Testing; Torque;
Conference_Titel :
Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-2821-2
Electronic_ISBN :
978-1-4244-2822-9
DOI :
10.1109/ICHR.2008.4755961
