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– KHR-1 has been developed on the purpose of research about biped walking. It has 21 DOF without hands and head, which has 12 DOF in legs, 1 DOF in torso, and 8 DOF in arms. The objective of KHR-2 (41 DOF) was to develop the humanoid which can walk on the living-floor with human-like appearance and movement. KHR-3 has the purpose that it has more human-like(More)
This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed(More)
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(More)
This paper describes an algorithm about online gait trajectory generation method, controller for walking, brief introduction of humanoid robot platform KHR-3 (KAIST Humanoid Robot-3: HUBO) and experimental result. The gait trajectory has continuity, smoothness in varying walking period and stride, and it has simple mathematical form which can be implemented(More)
To celebrate the 100<sup>th</sup> anniversary of the announcement of the special relativity theory of Albert Einstein, KAIST HUBO team and Hanson robotics team developed android type humanoid robot Albert HUBO which may be the world's first expressive human face on a walking biped robot. The Albert HUBO adopts the techniques of the HUBO design for Albert(More)
—This paper describes a novel control algorithm for dynamic walking of biped humanoid robots. For the test platform, we developed KHR-2 (KAIST Humanoid Robot-2) according to our design philosophy. KHR-2 has many sensory devices analogous to human sensory organs which are particularly useful for biped walking control. First, for the biped walking motion, the(More)
The Korea Advanced Institute of Science and Technology (KAIST) humanoid robot-1 (KHR-1) was developed for the purpose of researching the walking action of bipeds. KHR-1, which has no hands or head, has 21 degrees of freedom (DOF): 12 DOF in the legs, 1 DOF in the torso, and 8 DOF in the arms. The second version of this humanoid robot, KHR-2, (which has 41(More)
This paper describes an algorithm about online walking pattern generation method, sensory feedback controllers for walking of humanoid robot platform KHR-3 (KAIST Humanoid Robot – 3: HUBO) and experimental results. The walking pattern trajectories have continuity, smoothness in varying walking period and stride, and it has simple mathematical form which can(More)
The mechanical and electrical system designs and system integration including controllers and sensory devices of the humanoid KHR-2 are presented. The design concept and the objective are also discussed. Since last year (2003), we have been developing KHR-2, which has 41 DOF (degrees of freedom). Each arm of KHR-2 has 11 DOF in total that amounts to 5(More)