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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