Paper Info
Title
Experimental realization of dynamic walking for a human-riding biped robot, HUBO FX-1
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.
Year
DOI
Venue
2007
10.1163/156855307780132063
ADVANCED ROBOTICS
Keywords
Field
DocType
human-riding biped robot,real-time balance control,HUBOFX-1
Control theory,Simulation,Control engineering,Cockpit,Harmonic drive,Engineering,Joystick,Robot,HUBO,Servomotor,Payload,Actuator
Journal
Volume
Issue
ISSN
21
3-4
0169-1864
Citations 
PageRank 
References 
18
1.34
10
Authors
3
Name
Order
Citations
PageRank
Jung-yup Kim150741.82
Jungho Lee223717.88
Jun-Ho Oh352355.78