인체형 이족 보행로봇의 개발

Abstract

In this thesis, I present research results on a human-sized biped walking robot(BWR). The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. The BWR is driven by a new joint actuator based on the ball screw which has high strength and high gear ratio. Using a small DC motor. The joint actuator is composed of 4-link bar actuated by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot composes of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The motor drive and data interface system is developed. To develop BWR, I performed an analysis on the kinematics and dynamics of the BWR. In the performance test, the BWR performed motions of sitting-up and sitting-down. Through a set of experiments, we could find capability of high performance in biped-walking.