The Development of Biped Robot MARI-3 for Fast Walking and Running

Author

Kawamura, Atsuo ; Zhu, Chi

Author_Institution

Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ.

fYear

2006

Firstpage

599

Lastpage

604

Abstract

A biped robot MARI-3 for fast walking and running is developed. Its mechanical structure including the joint configuration and specification, the structure of knee joint, the speed reduction mechanism, and the mechanical stopper are described in detail. A specific control system RON (RObot Network) for MARI-3 that is a serial and distributed network and consists of a microcontroller, host unit, servo units, sensor units, and servo amplifiers are presented as well as sensor system. With the developed biped robot MARI-3, biped walking and one-leg jumping which jumping time is 110 [ms] are implemented as basic and verification experiments for fast walking and running

Keywords

distributed control; humanoid robots; legged locomotion; microcontrollers; motion control; position control; MARI-3 biped robot; RObot Network control system; distributed control; fast walking robot; joint configuration; joint specification; knee joint structure; mechanical stopper; mechanical structure; microcontroller; one-leg jumping; running robot; sensor system; serial control; servo amplifiers; speed reduction mechanism; Control systems; Distributed amplifiers; Knee; Legged locomotion; Mechanical sensors; Microcontrollers; Robot control; Robot sensing systems; Sensor systems; Servomechanisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2006 6th IEEE-RAS International Conference on

Conference_Location

Genova

Print_ISBN

1-4244-0200-X

Electronic_ISBN

1-4244-0200-X

Type

conf

DOI

10.1109/ICHR.2006.321335

Filename

4115665