Paper Info
Title
System Design and Dynamic Walking of Humanoid Robot KHR-2
Abstract
In this paper, we describe the mechanical design, system integration and dynamic walking of the humanoid, KHR-2 (KAIST Humanoid Robot– 2). KHR-2 has 41 DOFs in total, that allows it to imitate various human-like motions. To control all joint axes effectively, the distributed control architecture is used, which reduces computation burden on the main controller, and allows convenient system. A servo motor controller was used as the sub-controller, whereas a 3-axis force/torque sensor and an inertia sensor were used in the sensory system. The main controller attached on the back of KHR-2 communicates with the sub-controllers in real-time through CAN (Controller Area Network) protocol. Windows XP was used as the operation system, whereas RTX HAL extension commercial software was used to realize the real-time control capability in Windows environment. We define the walking pattern and describe several online controllers in each stage. Some of the experimental results of KHR-2 are also presented.
Year
DOI
Venue
2005
10.1109/ROBOT.2005.1570316
ICRA
Keywords
Field
DocType
khr-2,dynamic walking,humanoid robot,index terms,control systems,computer architecture,real time control,servomotors,controller area network,system integration,sensory system,real time,mechanism design,operating system,indexing terms,distributed computing,humanoid robots,system design
CAN bus,Control theory,Torque sensor,Control theory,Simulation,Systems design,Control engineering,Engineering,Control system,System integration,Humanoid robot,Servomotor
Conference
Volume
Issue
ISSN
2005
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-8914-X
44
5.70
References 
Authors
8
6
Name
Order
Citations
PageRank
Jung-yup Kim150741.82
Ill-woo Park244831.14
Jungho Lee323717.88
Minsu Kim441464.12
Baek-Kyu Cho511312.72
Jun-Ho Oh652355.78