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VNUHCM Journal of

Science and Technology Development

An official journal of Viet Nam National University Ho Chi Minh City, Viet Nam since 1997

ISSN: 1859-0128
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Engineering and Technology - Research article Open Access Logo

DEVELOPMENT OF A HUMANOID BIPED WALKING ROBOT HUBOT-1 INITIAL DESIGN AND RESULTS ACHIEVED

Nhut Thanh Nguyen 1, *
Lam Huynh Phan 1
Lam Tan Chung 1

  1. DCSELAB, University of Technology, VNU-HCM
Correspondence to: Nhut Thanh Nguyen, DCSELAB, University of Technology, VNU-HCM. Email: pvphuc@hcmuns.edu.vn.
Volume & Issue: Vol. 13 No. 4 (2010) | Page No.: 45-56 | DOI: 10.32508/stdj.v13i4.2176
Published: 2010-12-30

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Copyright © 2010 by the author(s).

This article is published with open access by Viet Nam National University, Ho Chi Minh City, Viet Nam. This article is distributed under the terms of the Creative Commons Attribution License (CC-BY 4.0) which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited.

Abstract

This paper presents an overview of the design process of humanoid robot HUBOT-1: mechanical design, gait planning, control architecture and sensors implementation. The robot is designed with full body in style of Vietnamese body proportion. At the present state the lower limbs with 12 DOF are considered for natural walking pattern from hip and ankle trajectories. Walking pattern based on ZMP criterion. Also, the dead-beat controller of servo motor is implemented for joint control. In addition, the robot used IMU and FSR sensors which are designed and implemented for verifying the ZMP trajectory in stability area.

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