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Mechanism and Control of Biped Walking Robot with 3 DOF Waist
Hun-ok Lim,Kensuke Tajima 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper describes the mechanism and the control of the Kanagawa Biped walking Robot No.1 (KBR-1) capable of imitating human walking motion. The KBR-1 is made of two six degree of freedom (DOF) legs and a 3 DOF waist. Its leg system consists of two 2 DOF ankles, two 1 DOF knees and two 3 DOF hips. It is designed with a large movable range like a human. For the biped robot to walk stably, a compensatory control method is employed which is based on the motion of the waist. The control method is to cancel the moments generated by the motion of the legs. Using the KBR-1, various walking experiments are conducted, and the effectiveness of the mechanism and the control method is confirmed.
Development of Pipe Inspection Robot
Hun-ok Lim,Taku Ohki 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a robot capable of inspecting a pipe. The robot consists of a fore leg system, a rear leg system and a body. The fore and rear leg systems are constructed by using three worm gear systems that are arranged at an angle of 120 degrees with respect to each oter to operate inside pipes of different diameters. Also, the body is designed with two joints so as to change the direction in pipe junctions. Several experiments are conducted in pipes of different diameters, and the effectiveness of the mechanism of the robot is confirmed.
Development of Human-Friendly Robot with Collision Force Suppression Mechanism
Hun-ok Lim,Masahiko Sunagawa,Naoki Takeuchi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents the mechanism of a human-friendly robot that is able to suppress collision forces. The human-friendly robot consists of a mobile base and a manipulator with a collision suppression mechanism. The mechanism is composed of an electromagnetic clutch and a rotary damper. If the manipulator collides with an object, the joint axis of the manipulator separates from the electromagnetic clutch. Then, the collision force is passively suppressed by the damper. Through collision experiments, the effectiveness of the collision mechanism is verified.
Online Walking Pattern Generation for Biped Walking
Hun-ok Lim,Tetsuya Yoshida 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.
Hun-ok Lim,Yoshiyuki Ohta,Shoji Machida 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a mechanism and a control method of a personal motor vehicle -1 refined (PMV-1R) that can be used as a passenger and luggage conveyance. The PMV-1R consists of two wheels, an EC servo-motor, a differential gear and a base. Its total weight is 13 [kg], and the height of its base is 0.2 [m]. Its maximum payload is 100[kg]. A gyro sensor is installed to detect the inclination angle of the base in the pitch direction. A simple motion control is employed for the PMV-1R, which is based on the inclination angle. Several passenger and luggage conveyance experiments are conducted on a flat and rough terrain, and the effectiveness of its mechanism and control method is confirmed.
Development of Collision Force Suppression Mechanism
Hun-ok Lim,Kousuke Maenisi,Masahiko Sunagawa 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper presents the joint mechanism of a manipulator capable of passively suppressing collision forces. The suppression mechanism consists of an inner circular disk, outer circular disks, compression springs, etc. If a manipulator having this suppression mechanism is collided with an object, the manipulator will rotate with the outer circular disks in the direction of the collision force. Then, the collision force is passively reduced without any control. On the other hand, if the collision object is eliminated, the manipulator returns to a desired task. Through collision experiments, the effectiveness of the mechanism is verified.