Experimental Study for a FIBO Humanoid Robot

Author

Wongsuwarn, Hataitep ; Laowattana, Djitt

Author_Institution

Dept. of Mech. Eng., King Mongkut´´s Univ. of Thonburi, Bangkok

fYear

2006

fDate

1-3 June 2006

Firstpage

1

Lastpage

6

Abstract

This paper presents the progress of the FIBO humanoid robot (FHR-1) called "Somjuk". The project, involved four years, is aimed at the realization of the lower part of an anthropomorphic humanoid robot. The robot included two legs, two feet ad a trunk. This paper describes the mechanism, controller architecture, foot force torque sensor and walking strategy of the developed biped robot. An experimental result shows that the robot is capable of keeping its ZMP at its stabilized region in spite of suppressing the inherent vibration due to a mechanical structure and also impact force during contacting ground floor

Keywords

humanoid robots; legged locomotion; motion control; robot dynamics; FIBO humanoid robot; Somjuk; anthropomorphic humanoid robot; biped robot; controller architecture; dynamic walking; foot force torque sensor; walking strategy; Anthropomorphism; Foot; Force control; Force sensors; Humanoid robots; Leg; Legged locomotion; Mechanical sensors; Robot sensing systems; Torque control; bied robot; dynamic walking; humanoid robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252690

Filename

4018806