Construction of small humanoids with a new joint actuator module
Identifieur interne : 007081 ( Main/Merge ); précédent : 007080; suivant : 007082Construction of small humanoids with a new joint actuator module
Auteurs : Kab-Il Kim [Corée du Sud] ; Young I. Son [Corée du Sud] ; Paul B. S. Kim [Corée du Sud]Source :
Descripteurs français
- Pascal (Inist)
- Homme, Rétroaction, Commande boucle fermée, Commande position, Robotique, Système ordre réduit, Commande hybride, Commande force, Equipement commande, Actionneur, Cheville, Moteur courant continu, Servomoteur, Contrôle information, Processeur, Robot humanoïde, Réducteur vitesse, Potentiomètre, Jeu mécanique, Alarme, Réseau pair, Commande dynamique.
- Wicri :
English descriptors
- KwdEn :
- Actuator, Alarm, Ankle, Closed feedback, Control equipment, Dc motor, Feedback regulation, Force control, Human, Humanoid robot, Hybrid control, Information control, Mechanical clearance, Peer to peer P2P, Position control, Potentiometer, Processor, Reduced order systems, Robotics, Servomotor, Speed reducer, dynamic control.
Abstract
Successful construction of a humanoid largely depends on the performance of the actuators which are used at ankles, knees, and/or hip joints. For the reasons of control convenience and relative accuracy of position, DC servo-motors are widely used as the actuator of homanoid. Most of the actuators for small humanoids are the RC-type DC servo-motors because it is convenience to use them with their relatively small size. However, since the RC-type motor does not have feedback information, we cannot control the position and the force accurately. Moreover, the motors are connected to the central processor of the humanoid with the star type peer-to-peer connection, which results in the complicated line connections. In this paper, we develop a modular type joint actuator which overcomes the shortcomings of the existing actuators for constructing humanoid robots. The proposed actuator is composed of DC motor, reduction gear, potentiometer, motor controller, and processor. And this actuator is characterized by modular structure, instruction based control, multi-drop networking, low backlash, and hybrid dynamic control using position and force feedbacks. Furthermore, the actuator has some intelligent functions like alarms for over-current and overheating, shutdown function, and batch motion function by installing the processor. Though the proposed actuator has been designed mainly for humanoid robots, it can be also applied to VR and haptic systems, medical equipments, control parts of the automobile, and main part of factory automation equipments, etc.
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Pascal:06-0270422Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Construction of small humanoids with a new joint actuator module</title><author><name sortKey="Kim, Kab Il" sort="Kim, Kab Il" uniqKey="Kim K" first="Kab-Il" last="Kim">Kab-Il Kim</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>NPT Center and Dept. of Electrical Eng. Myongji University</s1><s2>Yong-In, Kyunggido 449-728</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>NPT Center and Dept. of Electrical Eng. Myongji University</wicri:noRegion></affiliation></author><author><name sortKey="Son, Young I" sort="Son, Young I" uniqKey="Son Y" first="Young I." last="Son">Young I. Son</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>NPT Center and Dept. of Electrical Eng. Myongji University</s1><s2>Yong-In, Kyunggido 449-728</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>NPT Center and Dept. of Electrical Eng. Myongji University</wicri:noRegion></affiliation></author><author><name sortKey="Kim, Paul B S" sort="Kim, Paul B S" uniqKey="Kim P" first="Paul B. S." last="Kim">Paul B. S. Kim</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Robotis Co., LTD. #605 Ace Techno Tower, Mullae-dong 3 ga</s1><s2>Yeongdungpo-gu, Seoul 150-992</s2><s3>KOR</s3><sZ>3 aut.</sZ></inist:fA14><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">06-0270422</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 06-0270422 INIST</idno><idno type="RBID">Pascal:06-0270422</idno><idno type="wicri:Area/PascalFrancis/Corpus">000D30</idno><idno type="wicri:Area/PascalFrancis/Curation">000776</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000D59</idno><idno type="wicri:Area/Main/Merge">007081</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Construction of small humanoids with a new joint actuator module</title><author><name sortKey="Kim, Kab Il" sort="Kim, Kab Il" uniqKey="Kim K" first="Kab-Il" last="Kim">Kab-Il Kim</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>NPT Center and Dept. of Electrical Eng. Myongji University</s1><s2>Yong-In, Kyunggido 449-728</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>NPT Center and Dept. of Electrical Eng. Myongji University</wicri:noRegion></affiliation></author><author><name sortKey="Son, Young I" sort="Son, Young I" uniqKey="Son Y" first="Young I." last="Son">Young I. Son</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>NPT Center and Dept. of Electrical Eng. Myongji University</s1><s2>Yong-In, Kyunggido 449-728</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>NPT Center and Dept. of Electrical Eng. Myongji University</wicri:noRegion></affiliation></author><author><name sortKey="Kim, Paul B S" sort="Kim, Paul B S" uniqKey="Kim P" first="Paul B. S." last="Kim">Paul B. S. Kim</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Robotis Co., LTD. #605 Ace Techno Tower, Mullae-dong 3 ga</s1><s2>Yeongdungpo-gu, Seoul 150-992</s2><s3>KOR</s3><sZ>3 aut.</sZ></inist:fA14><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Actuator</term><term>Alarm</term><term>Ankle</term><term>Closed feedback</term><term>Control equipment</term><term>Dc motor</term><term>Feedback regulation</term><term>Force control</term><term>Human</term><term>Humanoid robot</term><term>Hybrid control</term><term>Information control</term><term>Mechanical clearance</term><term>Peer to peer P2P</term><term>Position control</term><term>Potentiometer</term><term>Processor</term><term>Reduced order systems</term><term>Robotics</term><term>Servomotor</term><term>Speed reducer</term><term>dynamic control</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Homme</term><term>Rétroaction</term><term>Commande boucle fermée</term><term>Commande position</term><term>Robotique</term><term>Système ordre réduit</term><term>Commande hybride</term><term>Commande force</term><term>Equipement commande</term><term>Actionneur</term><term>Cheville</term><term>Moteur courant continu</term><term>Servomoteur</term><term>Contrôle information</term><term>Processeur</term><term>Robot humanoïde</term><term>Réducteur vitesse</term><term>Potentiomètre</term><term>Jeu mécanique</term><term>Alarme</term><term>Réseau pair</term><term>Commande dynamique</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Homme</term><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Successful construction of a humanoid largely depends on the performance of the actuators which are used at ankles, knees, and/or hip joints. For the reasons of control convenience and relative accuracy of position, DC servo-motors are widely used as the actuator of homanoid. Most of the actuators for small humanoids are the RC-type DC servo-motors because it is convenience to use them with their relatively small size. However, since the RC-type motor does not have feedback information, we cannot control the position and the force accurately. Moreover, the motors are connected to the central processor of the humanoid with the star type peer-to-peer connection, which results in the complicated line connections. In this paper, we develop a modular type joint actuator which overcomes the shortcomings of the existing actuators for constructing humanoid robots. The proposed actuator is composed of DC motor, reduction gear, potentiometer, motor controller, and processor. And this actuator is characterized by modular structure, instruction based control, multi-drop networking, low backlash, and hybrid dynamic control using position and force feedbacks. Furthermore, the actuator has some intelligent functions like alarms for over-current and overheating, shutdown function, and batch motion function by installing the processor. Though the proposed actuator has been designed mainly for humanoid robots, it can be also applied to VR and haptic systems, medical equipments, control parts of the automobile, and main part of factory automation equipments, etc.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li></country><settlement><li>Séoul</li></settlement></list><tree><country name="Corée du Sud"><noRegion><name sortKey="Kim, Kab Il" sort="Kim, Kab Il" uniqKey="Kim K" first="Kab-Il" last="Kim">Kab-Il Kim</name></noRegion><name sortKey="Kim, Paul B S" sort="Kim, Paul B S" uniqKey="Kim P" first="Paul B. S." last="Kim">Paul B. S. Kim</name><name sortKey="Son, Young I" sort="Son, Young I" uniqKey="Son Y" first="Young I." last="Son">Young I. Son</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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