Humanoid Robot HanSaRam: Recent Progress and Developments

Kim, Jong-Hwan; Kim, Donghan; Kim, Yong-Jae; Park, Kui-Hong; Park, Jae Ho; Moon, Choon-Kyoung; Ryu, Jee-Hwan; Seow, Kiam Tian; Koh, K.C.

doi:10.20965/jaciii.2004.p0045

Cited by 23 publications

(16 citation statements)

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“…The activities at the University of Tokyo with a number of humanoid robots [11], at the Waseda University with the WABIAN series robots [12], the Johnnie designed by the TUM group in Germany [13] and the KHR series robots from KAIST in Korea [14,15] are examples of humanoid robots focusing on biped locomotion research. In parallel, several easy-to-design humanoid platforms have been described in the literature (see, for example, [16][17][18]). …”

Section: Current Perspectivementioning

confidence: 99%

Mechatronic Design of a New Humanoid Robot with Hybrid Parallel Actuation

Santos

Moreira

Silva

2012

International Journal of Advanced Robotic Systems

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Humanoid robotics is unquestionably a challenging and long-term field of research. Of the numerous and most urgent challenges to tackle, autonomous and efficient locomotion may possibly be the most underdeveloped at present in the research community. Therefore, to pursue studies in relation to autonomy with efficient locomotion, the authors have been developing a new teen-sized humanoid platform with hybrid characteristics. The hybrid nature is clear in the mixed actuation based on common electrical motors and passive actuators attached in parallel to the motors. This paper presents the mechatronic design of the humanoid platform, focusing mainly on the mechanical structure, the design and simulation of the hybrid joints, and the different subsystems implemented. Trying to keep the appropriate human proportions and main degrees of freedom, the developed platform utilizes a distributed control architecture and a rich set of sensing capabilities, both ripe for future development and research.

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Section: Current Perspectivementioning

confidence: 99%

Mechatronic Design of a New Humanoid Robot with Hybrid Parallel Actuation

Santos

Moreira

Silva

2012

International Journal of Advanced Robotic Systems

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“…The ADAMS plant is executed in MATLAB (Simulink) environment with a function file to control it. The stability of the humanoid was inspired from previous works done in this regard [5] - [8]. There are two separate methods to control the motion of a humanoid i.e.…”

Section: Hardware Modeling Of the Humanoidmentioning

confidence: 99%

Depth Image Processing and Operator Imitation Using a Custom Made Semi Humanoid

Bhutra¹

2012

IOSRJEEE

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“…In the meantime, other research groups have developed their own humanoid platforms making them available commercially for both the edutainment or academic communities (Furuta et al, 2001;Lohmeier et al, 2004;Kaneko et al, 2004;Kim et al, 2004;Nagasaka et al, 2004). Valuable and versatile platforms for research, however, still imply prohibitive costs for most small research groups wanting to perform activity on humanoid balance, walk and advanced perception, plus the difficulty associated to full autonomy, which is the ultimate requisite.…”

Section: Introductionmentioning

confidence: 99%