A study on a new biped robot supporting heavy weight

Abstract

We are developing a new type of human-sized BWR (biped walking robot) driven by the closed-chain type of joint actuator. Each leg of the robot is composed of 6 joints, arms have 12 joints, and head has 4 joints. In all, a 29 degree-of-freedom BWR is under developing. The weight of the robot is 75 (Kg) with 166cm tall, but was designed to be capable of supporting 120Kg. The BWR was designed to walk autonomously such that all leg joints are actuated by 150W DC motors/drivers and DC batteries and controllers which are boarded. An analysis on the four-bar-link mechanism applied to the joint actuator and on the structure of the BWR capable of supporting heavy load is shown. The design specification of the actuating motor for the BWR is analyzed through the torque analysis and experiment on the four-bar-link actuator. A walking performance is shown with heavy load