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K. Tu, M. Tsai, P. Kopacek:
"A Cost Oriented Big Humanoid Robot Designed Extra Sensor Systems";
in: "Proceedings of the 18th IFAC World Congress", issued by: IFAC; Elsevier Science Publishers B.V., Milano, 2011, 12680 - 12685.

Abstract: Big humanoid robot design usually makes use of harmonic driver to reduce its variation. However, extremely expensive harmonic drivers block the way of humanoid robots to be popular. In this paper, the 1.3 meter tall humanoid robot designed using normal servo motor for low cost is proposed. Instead of harmonic driver, the normal servo motor must face the problems such as gear backlash, huge variation, etc. In this paper, these problems are solved by mechanical design of the big humanoid robot and extra sensor systems. To reserve the advantage of the mechanical design, the components of the big humanoid robot are produced in our laboratory. In addition, the extra sensor systems include force sensors and motion sensors. The force sensors measure the gravity on support foot during walking, and the motion sensors measure. Both force sensor for static behavior and motion sensor for dynamic behavior are thus designed and implemented for the control of the big humanoid robot. The mechanical design issue of the big humanoid is described. In addition, the use and installation of both force and motion sensors are included.

Force Sensor; Motion Sensors; Dynamic Balancing; Humanoid Robots

http://dx.doi.org/10.3182/20110828-6-IT-1002.02113