Mechanical and electrical design of a biped humanoid which has multiple motors on each lower body joint

The design of a biped humanoid that has multiple motors on each lower body joint is described. The joint actuators of the lower body should have high-power performance with compact size for walking while dynamically supporting the entire weight. The authors propose a design method in which multiple...

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Bibliographic Details
Published in:Intelligent service robotics 2016-01, Vol.9 (1), p.49-61
Main Authors: Lee, Sunwoo, Park, Ill-Woo
Format: Article
Language:English
Subjects:
Actuators
Ankle
Artificial Intelligence
Control
Control algorithms
Control systems design
Controllers
Design
Dynamical Systems
Engineering
Humanoid
Kinematics
Knee
Mechatronics
Motors
Original Research Paper
Power
Robotics
Robotics and Automation
Robots
User Interfaces and Human Computer Interaction
Vibration
Walking
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Description
Summary:The design of a biped humanoid that has multiple motors on each lower body joint is described. The joint actuators of the lower body should have high-power performance with compact size for walking while dynamically supporting the entire weight. The authors propose a design method in which multiple motors are installed in a joint. The method can amplify the joint torque and this is verified by experiments involving measurement of the joint angle and the current with respect to the number of motors on a single joint. The mechanical design and control system are explained. The design results are verified from a walking experiment. The proposed design improved the walking performance.
ISSN:1861-2776
1861-2784
DOI:10.1007/s11370-015-0184-z