@inproceedings{10c9da0b616647c8a3c49e0bc152f937,
title = "System design and dynamic walking of humanoid robot KHR-2",
abstract = "In this paper, we describe the mechanical design, system integration and dynamic walking of the humanoid, KHR-2 (KAIST Humanoid Robot-2). KHR-2 has 41 DOFs in total, that allows it to imitate various human-like motions. To control all joint axes effectively, the distributed control architecture is used, which reduces computation burden on the main controller, and allows convenient system. A servo motor controller was used as the sub-controller, whereas a 3-axis force/torque sensor and an inertia sensor were used in the sensory system. The main controller attached on the back of KHR-2 communicates with the sub-controllers in real-time through CAN (Controller Area Network) protocol. Windows XP was used as the operation system, whereas RTX HAL extension commercial software was used to realize the real-time control capability in Windows environment. We define the walking pattern and describe several online controllers in each stage. Some of the experimental results of KHR-2 are also presented.",
keywords = "Dynamic walking, Humanoid robot, KHR-2",
author = "Kim, \{Jung Yup\} and Park, \{Ill Woo\} and Jungho Lee and Kim, \{Min Su\} and Cho, \{Baek Kyu\} and Oh, \{Jun Ho\}",
year = "2005",
doi = "10.1109/ROBOT.2005.1570316",
language = "English",
isbn = "078038914X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "1431--1436",
booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",
note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",
}