Name
Abstract | ||
|---|---|---|
This paper gives an overview of the development of a novel biped walking machine for a humanoid robot, Roboray. This lower-limb robot is designed as an experimental system for studying biped locomotion based on force and torque controlled joints. The robot has 13 actuated DOF and torque sensors are integrated at all the joints except the waist joint. We designed a new tendon type joint modules as a pitch joint drive module, which is highly back-drivable and elastic. We also built a decentralized control system using the small controller boards named Smart Driver. The forward walking experiment with this lower limbs was conducted to test the mechanical structure and control system. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385728 | IROS |
Keywords | Field | DocType |
back-drivable,force controlled joints,roboray,tendon type joint module,controller board,control system synthesis,waist joint,decentralized control system,legged locomotion,torque control,robot design,elastic,mechanical structure,force control,humanoid robots,torque controlled joints,forward walking experiment,lower-limb robot,humanoid robot,sensors,elasticity,pitch joint drive module,biped walking machine,smart driver,decentralised control,actuated dof,biped locomotion,torque sensor,intelligent sensors,torque | Robot control,Control theory,Torque,Decentralised system,Experimental system,Computer science,Simulation,Control engineering,Control system,Robot,Humanoid robot | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4673-1737-5 | 9 |
PageRank | References | Authors |
0.70 | 19 | 7 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Joo-Hyung Kim | 1 | 32 | 6.90 |
| Younbaek Lee | 2 | 14 | 1.96 |
| Sunggu Kwon | 3 | 13 | 1.14 |
| Keehong Seo | 4 | 75 | 8.42 |
| HoSeong Kwak | 5 | 15 | 1.56 |
| Heekuk Lee | 6 | 15 | 1.56 |
| Kyungsik Roh | 7 | 9 | 0.70 |