System Design and Dynamic Walking of Humanoid Robot KHR-2

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

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Min-Su Kim, Baek-Kyu Cho, Jun-Ho Oh
• Keywords: ICRA 2005, KAIST Humanoid Robot–2, Main Controller, Robotics, Servo Motor Controller