HUMANOID ROBOT - Modular-Joint Design of a TPINOKIO Bipedal Robot

Teck-Chew Wee, A. Astolfi, Ming-Xie .

Abstract

This paper presents the work done in the modular-joint design of a teen-size bipedal humanoid robot. Due to this modular-joint design approach, the robot is able to be modelled as a point-mass system without considering its links’ inertia, this is a novelty approach to improve the kinematics and dynamic modelling of the robot, for test-bedding and simulation of various control algorithms. The robot is a cost effective platform which is suitable for both edutainment and engineering research purposes. The TPinokio humanoid robot has a height of around 1.5 meter, and weight around 58 kg. This paper is focused mainly on the robot’s mechanical structure and electronics design. The robot’s kinematics with point-mass distribution characteristics and it’s control approach are briefly discussed.

References

  1. M. Xie, Z. W. Zhong, L. Zhang, L. B. Xian, L. Wang, H. J. Yang, C. S. Song and J. Li, A Deterministic Way of Planning and Controlling Biped Walking of LOCH Humanoid Robot, International Journal of Industrial Robot 36/4 (2009), pp 314-325.
  2. Goswami Dip, Vadakkepat Prahlad, Phung Duc Kien, Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed, Robotica (2009) volume 27, pp. 355-365.
  3. Ill-Woo Park, Jung-Yup Kim, Jungho Lee and Jun-Ho Oh, Online Free Walking Trajectory Generation for Biped Humanoid Robot KHR -3(HUBO), Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May 2006, pp. 1231-1236.
  4. Astolfi, A.; Ortega, R.; Venkatraman, A., Global observer design for mechanical systems with non-holonomic constraints, American Control Conference (ACC), 2010, pp. 202 - 207.
  5. http://www.ohmsha.co.jp/data/link/4-274-20058-2/
Download


Paper Citation


in Harvard Style

Wee T., Astolfi A. and . M. (2011). HUMANOID ROBOT - Modular-Joint Design of a TPINOKIO Bipedal Robot . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 185-190. DOI: 10.5220/0003530301850190


in Bibtex Style

@conference{icinco11,
author={Teck-Chew Wee and A. Astolfi and Ming-Xie .},
title={HUMANOID ROBOT - Modular-Joint Design of a TPINOKIO Bipedal Robot},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={185-190},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003530301850190},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - HUMANOID ROBOT - Modular-Joint Design of a TPINOKIO Bipedal Robot
SN - 978-989-8425-75-1
AU - Wee T.
AU - Astolfi A.
AU - . M.
PY - 2011
SP - 185
EP - 190
DO - 10.5220/0003530301850190