NDLI: A study on a new biped robot supporting heavy weight

Content Provider	IEEE Xplore Digital Library
Author	Hyeung-Sik Choi Sam-sang You Sang-Jun Lee Byung-Guk Kim Geun-Wha Lim Dong-Yeon Ko Woong-Ju Moon
Copyright Year	2006
Description	Author affiliation: Div. of Mech. & Inf. Eng., Korea Maritime Univ., Busan (Hyeung-Sik Choi; Sam-sang You; Sang-Jun Lee; Byung-Guk Kim; Geun-Wha Lim; Dong-Yeon Ko; Woong-Ju Moon)
Abstract	We are developing a new type of human-sized BWR (biped walking robot) driven by the closed-chain type of joint actuator. Each leg of the robot is composed of 6 joints, arms have 12 joints, and head has 4 joints. In all, a 29 degree-of-freedom BWR is under developing. The weight of the robot is 75 (Kg) with 166cm tall, but was designed to be capable of supporting 120Kg. The BWR was designed to walk autonomously such that all leg joints are actuated by 150W DC motors/drivers and DC batteries and controllers which are boarded. An analysis on the four-bar-link mechanism applied to the joint actuator and on the structure of the BWR capable of supporting heavy load is shown. The design specification of the actuating motor for the BWR is analyzed through the torque analysis and experiment on the four-bar-link actuator. A walking performance is shown with heavy load
Starting Page	1180
Ending Page	1184
File Size	4531195
Page Count	5
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.315362
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Legged locomotion Actuators Leg Robot kinematics Orbital robotics Torque DC motors Pelvis Knee Performance analysis Selected keywords relevant to the subject
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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