Title :
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
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;
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
DOI :
10.1109/RAMECH.2006.252690
