TY - GEN
T1 - Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot - 3: HUBO)
AU - Park, Ill Woo
AU - Kim, Jung Yup
AU - Lee, Jungho
AU - Oh, Jun Ho
PY - 2005
Y1 - 2005
N2 - KHR-1 has been developed on the purpose of research about biped walking. It has 21 DOF without hands and head, which has 12 DOF in legs, 1 DOF in torso, and 8 DOF in arms. The objective of KHR-2 (41 DOF) was to develop the humanoid which can walk on the living-floor with human-like appearance and movement. KHR-3 has the purpose that it has more human-like features, movements and human-friendly character. Mechanical design of KHR-3 is presented on this paper. The design concept, lower body design, upper body design and actuator selection of joints are included in this paper. We have developed and published KHR-1 and 2 in last three years. KHR-3 platform is based on KHR-2. It has 41 degree of freedom (DOF), 125cm height, and 55Kg weight. The differences from KHR-2 are mechanical stiffness and detailed design of the frame in the mechanical point of view. Stiffness of the frame is increased and detailed design about joints and link frame has been modified or redesigned. We introduced exterior art design concept on KHR-2 in beginning, and the concept has been implemented on KHR-3 in mechanical design stage.
AB - KHR-1 has been developed on the purpose of research about biped walking. It has 21 DOF without hands and head, which has 12 DOF in legs, 1 DOF in torso, and 8 DOF in arms. The objective of KHR-2 (41 DOF) was to develop the humanoid which can walk on the living-floor with human-like appearance and movement. KHR-3 has the purpose that it has more human-like features, movements and human-friendly character. Mechanical design of KHR-3 is presented on this paper. The design concept, lower body design, upper body design and actuator selection of joints are included in this paper. We have developed and published KHR-1 and 2 in last three years. KHR-3 platform is based on KHR-2. It has 41 degree of freedom (DOF), 125cm height, and 55Kg weight. The differences from KHR-2 are mechanical stiffness and detailed design of the frame in the mechanical point of view. Stiffness of the frame is increased and detailed design about joints and link frame has been modified or redesigned. We introduced exterior art design concept on KHR-2 in beginning, and the concept has been implemented on KHR-3 in mechanical design stage.
KW - Biped walking
KW - HUBO
KW - Humanoid
KW - KHR-3
UR - http://www.scopus.com/inward/record.url?scp=33846632781&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2005.1573587
DO - 10.1109/ICHR.2005.1573587
M3 - Conference contribution
AN - SCOPUS:33846632781
SN - 0780393201
SN - 9780780393202
T3 - Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
SP - 321
EP - 326
BT - Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
T2 - 2005 5th IEEE-RAS International Conference on Humanoid Robots
Y2 - 5 December 2005 through 7 December 2005
ER -