자립형 이족 보행 로봇의 개발

다국어 초록 (Multilingual Abstract)

We developed a human-sized BWR(biped walking robot) named KUBIR1 driven by a new<br/>
actuator based on the ball screw which has high strength and high gear ratio. KUBIR1 was<br/>
developed to walk autonomously such that it is actuated by small torque motors and is<br/>
boarded with DC battery and controllers. To utilize the information on the human walking<br/>
motion and to analyze the walking mode of robot, a motion capture system was developed.<br/>
The system is composed of the mechanical and electronic devices to obtain the joint angle<br/>
data. By using the obtained data, a 3-D graphic interface was developed based on the<br/>
OpenGL tool. Through the graphic interface, the control input of KUBIR1 is performed.

목차 (Table of Contents)

• Abstract
  
• 1. 서론
  
• 2. 보행 로봇의 구동 메커니즘
  
• 3. 제어시스템
  
• 5. 결론
  
• 참고문헌