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Mechanical and electrical design of a biped humanoid which has multiple motors on each lower body joint

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Abstract

The design of a biped humanoid that has multiple motors on each lower body joint is described. The joint actuators of the lower body should have high-power performance with compact size for walking while dynamically supporting the entire weight. The authors propose a design method in which multiple motors are installed in a joint. The method can amplify the joint torque and this is verified by experiments involving measurement of the joint angle and the current with respect to the number of motors on a single joint. The mechanical design and control system are explained. The design results are verified from a walking experiment. The proposed design improved the walking performance.

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Acknowledgments

The present research has been conducted under support from a research grant of Kwangwoon University in 2015, the MOTIE (Ministry of Trade, Industry and Energy), and the KIAT (Korea Institute for Advancement of Technology) through the Industry Convergence/Connected for Creative Robot Human Resource Development (N0001126).

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Authors and Affiliations

  1. Kwangwoon University, Seoul, Korea

    Sunwoo Lee & Ill-Woo Park

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  1. Sunwoo Lee
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  2. Ill-Woo Park
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Correspondence to Ill-Woo Park.

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Lee, S., Park, IW. Mechanical and electrical design of a biped humanoid which has multiple motors on each lower body joint. Intel Serv Robotics 9, 49–61 (2016). https://doi.org/10.1007/s11370-015-0184-z

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  • DOI: https://doi.org/10.1007/s11370-015-0184-z

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