関節モジュール型ヒューマノイドの開発(電気工学科)

Abstract

We developed a human-sized humanoid robot composed of the modularized joint units in our laboratory. Development of a human-sized humanoid robot in a small laboratory is usually not easy because it is expensive and it requires some high level manufacturing machines. We developed many modularized joint units with DC servo motors and gear set at first, and then we constructed a humanoid robot in a manner of "building block" with them. In this paper, we introduce the composition of our modularized joint unit and the structure of humanoid robot, and illustrate the outline of hardware and software of control system developed to control our humanoid robot.