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Development of a biped walking robot actuated by a closed-chain mechanism

Published online by Cambridge University Press:  31 October 2005

Hyeung-Sik Choi  and
Yong-Heon Park
Hyeung-Sik Choi
Affiliation:
Division of Mechanical and Information Engineering, Korea Maritime University, Dongsam-Dong, Yeongdo-Ku, Pusan (South Korea)
Yong-Heon Park
Affiliation:
Division of Mechanical and Information Engineering, Korea Maritime University, Dongsam-Dong, Yeongdo-Ku, Pusan (South Korea)
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Abstract

We developed a new type of a human-sized BWR (biped walking robot) driven by the closed-chain type of a joint actuator. Each leg of the BWR is composed of three pitch joints and one roll joint. In all, a 12 degree-of-freedom robot, including four arm joints, was developed. The BWR was designed to walk autonomously; it is actuated by small 90W DC motors/drivers and is has DC batteries and controllers. A new type of the joint actuator for the BWR is composed of the four-bar-link mechanism driven by a ball screw which has high strength and high gear ratio despite its light weight.

In this paper, analyses on the four-bar-link mechanism applied to the joint actuator and on the structure of the BWR are presented. Through walking experiments of the BWR, the superior trajectory-tracking ability of the proposed joint actuator is validated.

Keywords

Biped walking robotBall screwFour-bar-link mechanism
Type
Research Article
Information
Robotica , Volume 24 , Issue 1 , January 2006 , pp. 31 - 37
Copyright
2005 Cambridge University Press

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