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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 a Portable Motor Vehicle for Personal Transportation
Hun-ok Lim,Masayuki Yoshikawa,Hiroyuki Tamai 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper presents a personal motor vehicle (PMV). The PMV has been developed under three design concepts. (1) It must be able to be used as a baggage and passenger conveyance system. (2) It must be lightweight and portable. (3) It must be easily controllable by the rider. The PMV consists of two wheels, a differential gear and a base. The speed of the PMV is controlled according to the foot pressure that is measured by two force sensors. Using the PMV, passenger riding and luggage conveyance experiments are conducted on flat and rough terrain, and the effectiveness of its mechanism and control system 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.
Development of Biped Walking Robot KBR-1R
Hun-ok Lim,Kensuke Tajima,Tetsuya Yoshida,Katsuhiro Watanabe 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes the mechanism of KBR-1R (Kanagawa Biped Robot-1 Refined) that is able to walk on even and uneven terrain. The KBR-1R has 15 degrees of freedom (DOF) (two 6 DOF legs and a 3 DOF waist). It was designed with a large movable range like a human. Also, a compensatory motion control for stable walking is described which is based on the motion of the trunk. Using the KBR-1R, various walking experiments are conducted, and the effectiveness of the mechanism and the control method is confirmed.
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 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.
Online Walking Pattern and Balance Motion for a Biped Humanoid Robot Having a Trunk
Hun-oK Lim,Yoshiharu Kaneshima,Atsuo Takanishi 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2004 International Journal of Assistive Robotics and Me Vol.5 No.1
This paper describes an online locomotion pattern generation for a biped humanoid robot having a three degrees of freedom trunk. This pattern generator uses visual and auditory sensors to detect a walking length and direction from human robot interaction. The motion pattern of the lower-limbs is generated in real time on the basis of walking commands. Depending on the contact information of the landing foot, ZMP is set arbitrarily in a support polygon. To maintain the balance of the whole robot body during walking, the motions of the trunk and the waist are generated by a compensatory motion control method based on the ZMP and the motion of the lower-limbs. To confirm the online locomotion, we have developed a human-like biped robot, WABIAN-RIV that consists of forty-three mechanical degrees of freedom. Versatile biped walking experiments have been conducted on a horizontal plane using visual and auditory information, and the validity of the online pattern generation and the compensatory motion control has been assured.
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.