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Experimental Realization of Dynamic Walking for a Human-Riding Biped Robot, HUBO FX-1
J. Kim, JunghoLee, and J. Oh
Advanced Robotics, Vol. 21, No. 3-4, March, 2007, pp. 461 - 484.

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This paper describes a control strategy of the stable walking for the human-riding biped robot, HUBO FX-1. HUBO FX-1 largely consists of two legs with 12 d.o.f., a pelvis and a cockpit. A normal adult can easily ride on HUBO FX-1 by means of a foothold, and can change the walking direction and speed continuously through the use of a joystick. Principally, this kind of robot must be able to carry a payload of at least 100 kg in order to carry a person easily. A sufficient payload can be accomplished by two ways. The first is through the choice of a highly efficient actuator. The second is through weight reduction of the robot body frames. As an efficient actuator, a high-power AC servo motor and a backlash-free harmonic drive reduction gear were utilized. Furthermore, the thickness and the size of the aluminum body frames were sufficiently reduced so that the weight of HUBO FX-1 is light enough. The disadvantage of the weight reduction is that HUBO FX-1 was not able to walk stably due to structural vibrations, as the body structures become more flexible due to this procedure. This problem was solved through the use of a simple theoretical model and a vibration reduction controller based on sensory feedback. In order to endow the robot with a stable biped walking capability, a standard walking pattern and online controllers based on the real-time sensory feedback were designed. Finally, the performance of the real-time balance control strategy was experimentally verified and stable dynamic walking of the human-riding biped robot, HUBO FX-1, carrying one passenger was realized.

Number of pages: 24

J. Kim, JunghoLee, and J. Oh, "Experimental Realization of Dynamic Walking for a Human-Riding Biped Robot, HUBO FX-1," Advanced Robotics, Vol. 21, No. 3-4, March, 2007, pp. 461 - 484.

@article{Kim_2007_5723,
   author = "Jung-Yup Kim and JunghoLee and Jun-Ho Oh",
   title = "Experimental Realization of Dynamic Walking for a Human-Riding Biped Robot, HUBO FX-1",
   journal = "Advanced Robotics",
   month = "March",
   year = "2007",
   volume = "21",
   number = "3-4",
   pages = "461 - 484"
}