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System Design and Dynamic Walking of Humanoid Robot KHR-2
J. Kim, I. Park, J. Lee, M.S. Kim, B.K. Cho, and J. Oh
Proc. IEEE Int. Conf. on Robotics & Automation, May, 2005, pp. 1443 - 1448..

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In this paper, we describe the mechanical design, system integration and dynamic walking of the humanoid, KHR-2 (KAIST Humanoid Robot­2). 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.

Number of pages: 6

J. Kim, I. Park, J. Lee, M.S. Kim, B.K. Cho, and J. Oh, "System Design and Dynamic Walking of Humanoid Robot KHR-2," Proc. IEEE Int. Conf. on Robotics & Automation, May, 2005, pp. 1443 - 1448..

@inproceedings{Kim_2005_5729,
   author = "Jung-Yup Kim and Ill-Woo Park and Jungho Lee and Min Su Kim and Baek Kyu Cho and Jun-Ho Oh",
   title = "System Design and Dynamic Walking of Humanoid Robot KHR-2",
   booktitle = "Proc. IEEE Int. Conf. on Robotics & Automation",
   month = "May",
   year = "2005",
   pages = "1443 - 1448."
}