Tendon based full size biped humanoid robot walking platform design
Journal
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Journal Volume
5744 LNCS
Pages
135-150
Date Issued
2009
Author(s)
Abstract
Actuators and gear trains of most biped humanoid robots are divergently allocated on the links of two legs. Disadvantages of such a mechanical design are complicated wiring of power cord and sensing/ control signal bundles and imprecise kinetics models of mixed link-and-actuator structures. Based on these drawbacks, this paper proposes a tendon-driven mechanism to develop a lower body structure of a full-size biped humanoid robot. The actuators are compacted as an actuator module, and they are placed at a distal site. A 12 degree-of-freedom mechanical structure is proposed with 100 cm in height and 45 kg in weight. The gait planning module is simulated and evaluated using the Matlab software. At the same time, an ARM7 based controller is developed to automatically generate walking patterns as well as to control the motors. Finally, a tendon-driven biped humanoid robot prototype is realized for practical waling control in the future. ? 2009 Springer.
Subjects
Biped humanoid robot
Biped humanoid robots
Control signal
Embedded controller
Gait planning
Gear train
Kinetics models
Lower body
Matlab- software
Mechanical design
Mechanical structures
Platform design
Power cords
Tendon driven
Tendon driven mechanism
Tendon-driven mechanisms
Walking pattern
Actuators
Anthropomorphic robots
Controllers
Intelligent robots
Locomotives
MATLAB
Railroad cars
Redundant manipulators
Robot programming
Tendons
Machine design
SDGs
Type
conference paper