Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Swing Motion of Miniaturized Humanoid Robot

소형 휴머노이드 로봇의 그네 운동

  • 이수영 (전북대학교 전자정보공학부) ;
  • 정길도 (전북대학교 전자정보공학부) ;
  • 성영휘 (금오공과대학교 전자공학과) ;
  • 박성훈 (전북대학교 제어계측공학과)
  • Published : 2004.03.01
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Abstract

In this Paper, we present analysis on the dynamics of human swing and its realization by a miniaturized humanoid robot. Since the motion of legs is the most important in the swing, the swing system can be approximated as a double pendulum. Based on Lagrangian analysis, the leg motion is designed to make the swing motion as sustained oscillation. In order to detect the peak instant of the swing and to synchronize the leg motion with the swing, we use ADXL acceleration/inclination sensor. The miniaturized humanoid in this paper has total 20 DOFs including 6 DOFs in each leg, 34cm in height, and 2kg in weight. As a result of realization of the swing by the humanoid, the sustained oscillation is verified through experiments.

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References

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