NDLI: Golem Krang: Dynamically stable humanoid robot for mobile manipulation

Content Provider	IEEE Xplore Digital Library
Author	Stilman, M. Olson, J. Gloss, W.
Copyright Year	2010
Description	Author affiliation: Center for Robotics and Intelligent Machines & School of Interactive Computing at the Georgia Institute of Technology, Atlanta, 30332, USA (Stilman, M.; Olson, J.; Gloss, W.)
Abstract	What would humans be like if nature had invented the wheel? Golem Krang is a novel humanoid torso designed at Georgia Tech. The robot dynamically transforms from a.5 m static to a 1.5 m dynamic configuration. Our robot development has led to two advances in the design of platforms for mobility and manipulation: (1) A 2-DOF robot base that autonomously stands from horizontal rest; (2) A 4-DOF humanoid torso that adds a waist roll joint to replicate human torso folding and a yaw joint for spine rotation. The mobile torso also achieves autonomous standing in a constrained space while lifting a 40 kg payload. Golem validates our assertions by consistently achieving static-dynamic transformations. This paper describes the design of our mobile torso. It considers a number of factors including its suitability for human environments, mechanical simplicity and the ability to store potential and kinetic energy for handling heavy human and even super-human tasks.
Starting Page	3304
Ending Page	3309
File Size	777180
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509593
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Humans Torso Mobile robots Robot kinematics Manipulator dynamics Robust stability Robotics and automation Wheels Orbital robotics robot design humanoid robot dynamic stability static stability autonomous standing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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