Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Development of Child-Sized Humanoid Robot

아동 크기 휴머노이드 로봇의 개발

  • Lee, Ki-Nam (Department of Electrical Engineering, Graduate School, Mokpo National University) ;
  • Park, Jang-Hyun (Department of Control Engineering and Robotics, Mokpo National University) ;
  • Ryoo, Young-Jae (Department of Control Engineering and Robotics, Mokpo National University)
  • 이기남 (목포대학교 대학원 전기공학과) ;
  • 박장현 (목포대학교 제어로봇공학과) ;
  • 유영재 (목포대학교 제어로봇공학과)
  • Received : 2012.10.28
  • Accepted : 2013.02.06
  • Published : 2013.02.25
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Abstract

In this paper, a procedure of design and development of a child-sized humanoid robot is described. The design concept for a humanoid robot was proposed and the mechanism of the humanoid robot which is more than 1 meter tall was designed by using 3D design tools. By considering the lightweight of the robot, the hardware for the robot was designed for optimal performance. The frames and links of the robot designed by 3D design tools was manufactured through precision machining with the material which is light and have a good strength. The manufactured child-sized humanoid robot was experimented with basic motions applied inverse kinematics and balance control, and the performance of the motions were verified.

이 논문에서는 아동 크기 휴머노이드 로봇의 설계 및 개발과정에 대하여 기술한다. 경량형 휴머노이드 로봇의 설계 개념을 제시하고, 3차원 설계 툴을 이용하여 1m 이상 크기 휴머노이드 로봇의 메커니즘을 설계하였다. 로봇의 구동을 위한 하드웨어는 제한된 로봇의 무게 내에서 최적의 성능을 낼 수 있도록 설계하였다. 3차원 설계 툴을 사용하여 설계한 로봇의 프레임 및 링크들은 가볍고 강도가 좋은 재료를 선정하고 정밀 가공을 통해 제작하였다. 제작된 아동 크기의 휴머노이드 로봇은 역기구학, 균형제어를 적용하여 기본 동작을 구현하고 그 성능을 실험을 통하여 확인하였다.

Keywords

References

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