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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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Article Details
Issue: Vol 13 No 4 (2010)
Page No.: 45-56
Published: Dec 30, 2010
Section: Engineering and Technology - Research article
DOI: https://doi.org/10.32508/stdj.v13i4.2176
Copyright Info
Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
How to Cite
Nguyen, N., Phan, L., & Chung, L. (2010). DEVELOPMENT OF A HUMANOID BIPED WALKING ROBOT HUBOT-1 INITIAL DESIGN AND RESULTS ACHIEVED. Science and Technology Development Journal, 13(4), 45-56. https://doi.org/https://doi.org/10.32508/stdj.v13i4.2176
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