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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.
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.