DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Jung-Yup | ko |
dc.contributor.author | Lee, Jungho | ko |
dc.contributor.author | Oh, Jun-Ho | ko |
dc.date.accessioned | 2007-08-06T06:51:39Z | - |
dc.date.available | 2007-08-06T06:51:39Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2007 | - |
dc.identifier.citation | ADVANCED ROBOTICS, v.21, no.3-4, pp.461 - 484 | - |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.uri | http://hdl.handle.net/10203/968 | - |
dc.description.abstract | This 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.sponsorship | MOCIE (Ministry of Commerce, Industry and Energy) of Republic of Korea | en |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | VSP BV | - |
dc.title | Experimental realization of dynamic walking for a human-riding biped robot, HUBOFX-1 | - |
dc.type | Article | - |
dc.identifier.wosid | 000244787100010 | - |
dc.identifier.scopusid | 2-s2.0-33847728601 | - |
dc.type.rims | ART | - |
dc.citation.volume | 21 | - |
dc.citation.issue | 3-4 | - |
dc.citation.beginningpage | 461 | - |
dc.citation.endingpage | 484 | - |
dc.citation.publicationname | ADVANCED ROBOTICS | - |
dc.identifier.doi | 10.1163/156855307780132063 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Oh, Jun-Ho | - |
dc.contributor.nonIdAuthor | Kim, Jung-Yup | - |
dc.contributor.nonIdAuthor | Lee, Jungho | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | human-riding biped robot | - |
dc.subject.keywordAuthor | real-time balance control | - |
dc.subject.keywordAuthor | HUBOFX-1 | - |
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