@inproceedings{52fa3db9fce04f5481f9f4f8e67839d1,
title = "Vibration reduction control for human-riding biped robot, HUBO FX-1",
abstract = "This paper presents a control algorithm that reduces the vibrations of a human-riding biped robot, HUBO FX-1 during walking. This kind of robot should handle the payload of at least 100 kg in order to carry a person easily. To secure a sufficient payload, it is important to reduce the weight of the robot. The weight of the robot is mainly composed of motors, reduction gears, and body frames. Reducing the weight of the body frame is more efficient use of power than reducing the capacities of motors and reduction gears. A disadvantage is that the leg structures become flexible, so serious structural vibrations are generated during walking. We solved this problem by using simple theoretical models and experiments based on sensory feedback. This control strategy is very effective for the weight reduction of biped robots.",
keywords = "Algorithm, Control, Robot",
author = "Kim, \{Jung Yup\} and Jungho Lee and Park, \{Ill Woo\} and Oh, \{Jun Ho\}",
year = "2006",
doi = "10.3182/20060912-3-de-2911.00111",
language = "English",
isbn = "9783902661173",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "PART 1",
pages = "638--643",
booktitle = "4th IFAC Symposium on Mechatronic Systems, MX 2006",
edition = "PART 1",
}