Experimental realization of dynamic walking for a human-riding biped robot, HUBOFX-1

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dc.contributor.authorKim, Jung-Yupko
dc.contributor.authorLee, Junghoko
dc.contributor.authorOh, Jun-Hoko
dc.date.accessioned2007-08-06T06:51:39Z-
dc.date.available2007-08-06T06:51:39Z-
dc.date.created2012-02-06-
dc.date.created2012-02-06-
dc.date.issued2007-
dc.identifier.citationADVANCED ROBOTICS, v.21, no.3-4, pp.461 - 484-
dc.identifier.issn0169-1864-
dc.identifier.urihttp://hdl.handle.net/10203/968-
dc.description.abstractThis paper describes a control strategy of the stable walking for the human-riding biped robot, HUBO FX-1. HUBO FX-1 largely consists of two legs with 12 d.o.f., a pelvis and a cockpit. A normal adult can easily ride on HUBO FX-1 by means of a foothold, and can change the walking direction and speed continuously through the use of a joystick. Principally, this kind of robot must be able to carry a payload of at least 100 kg in order to carry a person easily. A sufficient payload can be accomplished by two ways. The first is through the choice of a highly efficient actuator. The second is through weight reduction of the robot body frames. As an efficient actuator, a high-power AC servo motor and a backlash-free harmonic drive reduction gear were utilized. Furthermore, the thickness and the size of the aluminum body frames were sufficiently reduced so that the weight of HUBO FX-1 is light enough. The disadvantage of the weight reduction is that HUBO FX-1 was not able to walk stably due to structural vibrations, as the body structures become more flexible due to this procedure. This problem was solved through the use of a simple theoretical model and a vibration reduction controller based on sensory feedback. In order to endow the robot with a stable biped walking capability, a standard walking pattern and online controllers based on the real-time sensory feedback were designed. Finally, the performance of the real-time balance control strategy was experimentally verified and stable dynamic walking of the human-riding biped robot, HUBO FX-1. carrying one passenger was realized.-
dc.description.sponsorshipMOCIE (Ministry of Commerce, Industry and Energy) of Republic of Koreaen
dc.languageEnglish-
dc.language.isoen_USen
dc.publisherVSP BV-
dc.titleExperimental realization of dynamic walking for a human-riding biped robot, HUBOFX-1-
dc.typeArticle-
dc.identifier.wosid000244787100010-
dc.identifier.scopusid2-s2.0-33847728601-
dc.type.rimsART-
dc.citation.volume21-
dc.citation.issue3-4-
dc.citation.beginningpage461-
dc.citation.endingpage484-
dc.citation.publicationnameADVANCED ROBOTICS-
dc.identifier.doi10.1163/156855307780132063-
dc.embargo.liftdate9999-12-31-
dc.embargo.terms9999-12-31-
dc.contributor.localauthorOh, Jun-Ho-
dc.contributor.nonIdAuthorKim, Jung-Yup-
dc.contributor.nonIdAuthorLee, Jungho-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorhuman-riding biped robot-
dc.subject.keywordAuthorreal-time balance control-
dc.subject.keywordAuthorHUBOFX-1-
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