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최형식(H. S. Choi),김동현(D. H. Kim),강동완(D. W. Kang) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.10
In this paper, for moving heavy object a new type of human-sized Biped Walking Robot, KUBIR2, driven by the closed-chain type of joint actuator was developed Kubir2 is totally composed of29 degree-of-freedom as head is 4 d.o.f, arms are 12 d.o.f, legs are 12 d.o.fand waist is 1 d.o.f. The weight of the robot is 75(Kg) with 160㎝ tall, but the robot is designed to be capable of supporting 120Kg. The weight of one arm is light enough to be 9kg but capable of delivering 10㎏ load. Linear movement of joint actuators is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. The control system of the robot is developed by using embedded computer and TMS320LF2407 DSP microprocessors. Each joint actuator is controlled by using DSP microprocessors. The communication system between the main controller and joint controllers is developed using the CAN communication system. The performance of the developed robot was validated through walking experiments with supporting 15(㎏) load.
최형식(H. S. Choi),문웅주(W. J. Moon),김병국(B. G. Kim),임근화(K. W. Lim) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot arm was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the arm joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.
최형식(H. S. Choi),이상준(S. J. Lee),오주환(j. h. Oh),강영환(y. h. Kang) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.
이족 보행 로봇을 위한 자동 모션 제너레이터 및 시뮬레이터
최형식(H. S. Choi),전창훈(C. H. Jeon),오주환(J. H. Oh) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
For stable walking of various biped walking robots(BWR), we need to know the kinematics, dynamics and the Zero Moment of Point(ZMP) which are not easy to analyze analytically. In this reason, we developed a simulation program for BWRs composed of 4 degree-of-freedom upper-part body and 12 degree-of-freedom lower-part of the body. To operate the motion simulator for analyzing the kinematics and dynamics of BWES, inputs for the distance between legs, base angle, choice of walking type, gaits, and walking velocity are necessary. As a result, if stability condition is satisfied by the simulation, angle data for each actuator are generated automatically, and the data are transmitted to BWRS and then, they are actuated by the motion data. Finally, we validate the performance of the proposed motion simulator by applying it to a constructed small sized BWR.