Design and development of humanoid robot ZERO

Author

Hernández, Efraín ; Velázquez, Ramiro

Author_Institution

Mechatron. & Control Syst. Lab. (MCS), Univ. Panamericana, Aguascalientes, Mexico

fYear

2011

fDate

1-4 Oct. 2011

Firstpage

1

Lastpage

6

Abstract

This paper overviews the mechanics of humanoid robot ZERO. ZERO is a bipedal walking platform with 21 degrees of freedom (DOF) powered by servomotors that perform reliable torque and precise motion. Made entirely from aluminum, it is lightweight (5.5 kg) and compact (height: 60 cm, width: 33 cm) while strong and robust. ZERO is capable of moving forward, backward, sideway, it can turn in any direction, lie down, and get up. In addition, ZERO performs object tracking and recognition using an on-board video camera. The primary motivation behind this project is to create our own platform for research into bipedal walking and control. In this paper, the design, implementation, and mechanical analysis of this prototype are presented and discussed.

Keywords

control system synthesis; humanoid robots; legged locomotion; object recognition; object tracking; robot vision; servomotors; ZERO; aluminum; bipedal walking platform; degrees of freedom; design; development; humanoid robot; object recognition; object tracking; on-board video camera; servomotors; Humanoid robots; Kinematics; Legged locomotion; Magnetic heads; Prototypes; Servomotors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)

Conference_Location

Bogota

Print_ISBN

978-1-4577-1689-8

Type

conf

DOI

10.1109/LARC.2011.6086801

Filename

6086801