25자유도 이족보행로봇의 설계 및 동역학 해석

Abstract

In this paper, design modification was performed to improve the structure of walking robot similar shape with human beings and for more stable walking by complementing the problem of originally developed 15 degrees of freedom biped walking robot. The First, it is possible for the BWR to turn in left and right direction, and to maintain balance by adding rotation joint and balance joint. And the upper body of robot was modified, and arms and hands of robot having total 10 degrees of freedom were designed and developed. Second, we modified the structure of foot for more stable walking. Thus, KUBIR (Korea maritime University Biped Robot) which is biped walking robot with improved shape composed of 25 degrees of freedom was in total developed. The torque analysis was performed acting in each joint of robot by inducing the kinematics and dynamics modeling of the equations of motion. Third, load torque of actuator was analyzed used in each joint of legs when robot walked forward and verified the validity of theory and actual application. Finally, we performed the analysis for more stable walking through of the dynamic analysis of the leg joints for roll motion.