Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot - 3: HUBO)

Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots

Volumn 2005, Issue , 2005, Pages 321-326

  Park, Ill Woo ^a   Kim, Jung Yup ^a   Lee, Jungho ^a   Oh, Jun Ho ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Biped walking; HUBO; Humanoid; KHR 3

Indexed keywords

ACTUATORS; BIPED LOCOMOTION; DEGREES OF FREEDOM (MECHANICS); HUMAN COMPUTER INTERACTION; JOINTS (ANATOMY); ROBOTIC ARMS; STIFFNESS;

HUMANOID ROBOTS; MECHANICAL DESIGN;

INTELLIGENT ROBOTS;

EID: 33846632781     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2005.1573587     Document Type: Conference Paper

References (13)

1. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The Development of Honda Humanoid Robot", in Proc. IEEE Int. Conf. on Robotics and Automations, pp.1321-1326, 1998.
2. J. Yamaguohi, A. Takanishi, and I. Kato, "Development of a biped walking robot compensating for three-axis moment by trunk motion", in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.561-566, 1993.
3. Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura, "The intelligent ASIMO: System overview and integration", in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2478-2483, 2002.
4. K. Nishiwaki, T. Sugihara, S. Kagami, F. Kanehiro, M. Inaba, and H. Inoue, "Design and Development of Research Platform for Perception-Action Integration in Humanoid Robot: H6", in Proc. IEEE/RJS Int. Conf. on Intelligent Robots and Systems, pp. 1559-1564, 2000.
5. K. Kaneko, F. Kanehiro, S. Kajita, K. Yokoyama, K. Akachi, T. Kawasaki, S. Ota, and T. Isozumi, "Design of Prototype Humanoid Robotics Platform for HRP", in Proc. IEEE Int. Conf. on Intelligent Robots and Systems, pp.2431-2436, 1998.
6. M. Gienger, K. Loffler, and F. Pfeiffer, "Towards the Design of Biped Jogging Robot", in Proc. IEEE Int. Conf. on Robotics and Automation, pp.4140-4145, 2001.
7. J. H. Kim, I. W. Park, and J. H. Oh, "Design of Lower Limbs for a Humanoid Biped Robot", Int. Journal of Human friendly Welfare Robotic System, Vol.2,No.4,pp.5-10,2002
8. J. H. Kim, S. W. Park, I. W. Park, and J. H. Oh, "Development of a Humanoid Biped Walking Robot Platform KHR-1 -Initial Design and Its Performance Evaluation-", in Proc. of 3rd IARP Int. Work, on Humanoid and Human Friendly Robotics, pp.14-21, 2002.
9. I. W. Park, Y. Y. Kim, S. W. Park, and J. H. Oh, "Development of Humanoid Robot Platform KHR-2(KAIST Humanoid Robot - 2)", Int. Conf. on Humanoid 2004.
10. J. Yamaguchi, and A. Takanishi, "Development of a Biped Walking Robot Having Antagonistic Driven Joints Using Nonlinear Spring Mechanism", in Proc. of IEEE Int. Conf. in Robotics and Automation, pp.14-21, 1997.
11. Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Min-Su Kim, Baek-Kyu Cho and Jun-Ho Oh, "System Design And Dynamic Walking Of Humanoid Robot KHR-2", IEEE International Conference on Robotics & Automation, 2005.
12. J. J. Craig, Introduction to Robotics: Mechanics and Control, 2nd ed. (Addison-Wesley Publishing Company 1989), p.129.
13. M. Gienger, K. Loffler and F. Pfeiffer, "Walking Control of a Biped Robot based on Inertial Measurement", in Proc. of Int. Workshop, on Humanoid and Human Friendly Robotics, pp.22-30, 2002.