Mechanical Design of Small-Size Humanoid Robot: TWNHR-VI
A mechanical structure with 23 DOFs (degrees of freedom) is proposed so that an implemented small-size humanoid robot named TWNHRVI is able to accomplish some human-like walking motions. The height and weight of the implemented robot is 55 cm and 3.7 kg,
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Department of Electrical Engineering, Tamkang University 151, Ying-Chuan Rd. Tamsui, Taipei County, Taiwan 25137, R.O.C. [email protected]
Abstract. A mechanical structure with 23 DOFs (degrees of freedom) is proposed so that an implemented small-size humanoid robot named TWNHRVI is able to accomplish some human-like walking motions. The height and weight of the implemented robot is 55 cm and 3.7 kg, respectively. There are 2 DOFs on the head, 1 DOF on the trunk, 4 DOFs on each arm, and 6 DOFs on each leg. Three basic walking experiments of TWNHR-VI are presented to illustrate that the proposed mechanical structure lets the robot walk forward, turn, and slip effectively. Keywords: Humanoid robot, Mechanical design, Autonomous mobile robot
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Introduction
For the widely potential use, humanoid robot has been studied for decades by a lot of research groups. Researchers at Waseda University started the humanoid robot research since 1966, and they recently developed a biped humanoid robot WABIAN2R [1]. The WABIAN-2R is developed to simulate human locomotion It has led to the realization of emotional walking that is expressed by the parameterization of body motion, walking experiments based on an online pattern generation using obtained visual and auditory information [2-3]. Honda Corporation developed humanoid robots named P2, P3, and Asimo. The newest Asimo has 34 DOFs, 130 cm height, and 54 kg weight. The control method of Asimo is using the center-of-mass and ZMP to plan the pre-recorded joint trajectories and play them back with sensor-based compliant control [4-6]. Sony Corporation also developed several compact size humanoid robots including SDR-3X, SDR-4X, and QRIO. QRIO has 38 DOFs, 58 cm height, and 7 kg weight [7]. The Japanese National Institute of Advanced Industrial Science and Technology and Kawada Industries, Inc., have jointly developed HRP-2 and HRP-2P from 1998. HRP-2 that can walk, lie down, get up, open a door and through a door [811]. HRP-2 has 30 DOFs, 154 cm height, and 58 kg weight. Recently, Beijing Institute of Technology has developed a humanoid robot called BHR-03, and this robot is characterized by its light weight construction [12]. BHR-02 has 32 DOFs, 160 cm height, and 63 kg weight. Korea Advanced Institute of Science and Technology developed KHR-3 humanoid (HUBO) [13]. HUBO has 41 DOFs, 125 cm height, and 55 kg weight. P. Vadakkepat et al. (Eds.): FIRA 2010, CCIS 103, pp. 98–105, 2010. © Springer-Verlag Berlin Heidelberg 2010
Mechanical Design of Small-Size Humanoid Robot: TWNHR-VI
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Although the robot has been investigated for many years, there are still many issues to be studied, especially in the humanoid robot area [14-16]. Hardware and software architectures, walking gait generation, and artificial intelligence are still the main research field of humanoid robot. In this paper, Intelligent Control Lab. of Tamkang University develops a small size humanoid robot called TWNHR. The Intelligent Control Lab. of Tamkang University develops a series humanoid robot for research and
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