HapticV1, PascalFrancis, Corpus, bibRecord, 000D30

Construction of small humanoids with a new joint actuator module

Identifieur interne : 000D30 ( PascalFrancis/Corpus ); précédent : 000D29; suivant : 000D31

Construction of small humanoids with a new joint actuator module

Auteurs : Kab-Il Kim ; Young I. Son ; Paul B. S. Kim

Source :

RBID : Pascal:06-0270422

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.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Construction of small humanoids with a new joint actuator module`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings`
A11	`01`	`1`		`@1 KIM (Kab-Il)`
A11	`02`	`1`		`@1 SON (Young I.)`
A11	`03`	`1`		`@1 KIM (Paul B. S.)`
A14	`01`			`@1 NPT Center and Dept. of Electrical Eng. Myongji University @2 Yong-In, Kyunggido 449-728 @3 KOR @Z 1 aut. @Z 2 aut.`
A14	`02`			`@1 Robotis Co., LTD. #605 Ace Techno Tower, Mullae-dong 3 ga @2 Yeongdungpo-gu, Seoul 150-992 @3 KOR @Z 3 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and automation society @3 USA @9 org-cong.`
A20				`@1 4510-4514`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8232-3`
A30	`01`	`1`	`ENG`	`@1 IEEE International Conference on Robotics and Automation @2 21 @3 New Orleans LA USA @4 2004`
A43	`01`			`@1 INIST @2 Y 38842 @5 354000153471327250`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 7 ref.`
A47	`01`	`1`		`@0 06-0270422`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D`
C03	`01`	`X`	`FRE`	`@0 Homme @5 06`
C03	`01`	`X`	`ENG`	`@0 Human @5 06`
C03	`01`	`X`	`SPA`	`@0 Hombre @5 06`
C03	`02`	`X`	`FRE`	`@0 Rétroaction @5 07`
C03	`02`	`X`	`ENG`	`@0 Feedback regulation @5 07`
C03	`02`	`X`	`SPA`	`@0 Retroacción @5 07`
C03	`03`	`X`	`FRE`	`@0 Commande boucle fermée @5 08`
C03	`03`	`X`	`ENG`	`@0 Closed feedback @5 08`
C03	`03`	`X`	`SPA`	`@0 Bucle realimentación cerrada @5 08`
C03	`04`	`X`	`FRE`	`@0 Commande position @5 09`
C03	`04`	`X`	`ENG`	`@0 Position control @5 09`
C03	`04`	`X`	`SPA`	`@0 Regulación de la posición @5 09`
C03	`05`	`X`	`FRE`	`@0 Robotique @5 10`
C03	`05`	`X`	`ENG`	`@0 Robotics @5 10`
C03	`05`	`X`	`SPA`	`@0 Robótica @5 10`
C03	`06`	`3`	`FRE`	`@0 Système ordre réduit @5 11`
C03	`06`	`3`	`ENG`	`@0 Reduced order systems @5 11`
C03	`07`	`X`	`FRE`	`@0 Commande hybride @5 12`
C03	`07`	`X`	`ENG`	`@0 Hybrid control @5 12`
C03	`07`	`X`	`SPA`	`@0 Control híbrida @5 12`
C03	`08`	`X`	`FRE`	`@0 Commande force @5 13`
C03	`08`	`X`	`ENG`	`@0 Force control @5 13`
C03	`08`	`X`	`SPA`	`@0 Control fuerza @5 13`
C03	`09`	`X`	`FRE`	`@0 Equipement commande @5 14`
C03	`09`	`X`	`ENG`	`@0 Control equipment @5 14`
C03	`09`	`X`	`SPA`	`@0 Equipo mando @5 14`
C03	`10`	`X`	`FRE`	`@0 Actionneur @5 18`
C03	`10`	`X`	`ENG`	`@0 Actuator @5 18`
C03	`10`	`X`	`SPA`	`@0 Accionador @5 18`
C03	`11`	`X`	`FRE`	`@0 Cheville @5 19`
C03	`11`	`X`	`ENG`	`@0 Ankle @5 19`
C03	`11`	`X`	`SPA`	`@0 Tobillo @5 19`
C03	`12`	`X`	`FRE`	`@0 Moteur courant continu @5 20`
C03	`12`	`X`	`ENG`	`@0 Dc motor @5 20`
C03	`12`	`X`	`SPA`	`@0 Motor corriente continua @5 20`
C03	`13`	`X`	`FRE`	`@0 Servomoteur @5 21`
C03	`13`	`X`	`ENG`	`@0 Servomotor @5 21`
C03	`13`	`X`	`SPA`	`@0 Servomotor @5 21`
C03	`14`	`X`	`FRE`	`@0 Contrôle information @5 22`
C03	`14`	`X`	`ENG`	`@0 Information control @5 22`
C03	`14`	`X`	`SPA`	`@0 Control información @5 22`
C03	`15`	`X`	`FRE`	`@0 Processeur @5 23`
C03	`15`	`X`	`ENG`	`@0 Processor @5 23`
C03	`15`	`X`	`SPA`	`@0 Procesador @5 23`
C03	`16`	`X`	`FRE`	`@0 Robot humanoïde @5 24`
C03	`16`	`X`	`ENG`	`@0 Humanoid robot @5 24`
C03	`16`	`X`	`SPA`	`@0 Robot humanoide @5 24`
C03	`17`	`X`	`FRE`	`@0 Réducteur vitesse @5 25`
C03	`17`	`X`	`ENG`	`@0 Speed reducer @5 25`
C03	`17`	`X`	`SPA`	`@0 Reductor velocidad @5 25`
C03	`18`	`X`	`FRE`	`@0 Potentiomètre @5 26`
C03	`18`	`X`	`ENG`	`@0 Potentiometer @5 26`
C03	`18`	`X`	`SPA`	`@0 Potenciómetro @5 26`
C03	`19`	`X`	`FRE`	`@0 Jeu mécanique @5 27`
C03	`19`	`X`	`ENG`	`@0 Mechanical clearance @5 27`
C03	`19`	`X`	`SPA`	`@0 Juego mecánico @5 27`
C03	`20`	`X`	`FRE`	`@0 Alarme @5 41`
C03	`20`	`X`	`ENG`	`@0 Alarm @5 41`
C03	`20`	`X`	`SPA`	`@0 Alarma @5 41`
C03	`21`	`X`	`FRE`	`@0 Réseau pair @4 CD @5 96`
C03	`21`	`X`	`ENG`	`@0 Peer to peer P2P @4 CD @5 96`
C03	`21`	`X`	`SPA`	`@0 Igual a igual P2P @4 CD @5 96`
C03	`22`	`X`	`FRE`	`@0 Commande dynamique @4 CD @5 97`
C03	`22`	`X`	`ENG`	`@0 dynamic control @4 CD @5 97`
C03	`22`	`X`	`SPA`	`@0 Comando dinámico @4 CD @5 97`
N21				`@1 170`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0270422 INIST
ET :	Construction of small humanoids with a new joint actuator module
AU :	KIM (Kab-Il); SON (Young I.); KIM (Paul B. S.)
AF :	NPT Center and Dept. of Electrical Eng. Myongji University/Yong-In, Kyunggido 449-728/Corée, République de (1 aut., 2 aut.); Robotis Co., LTD. #605 Ace Techno Tower, Mullae-dong 3 ga/Yeongdungpo-gu, Seoul 150-992/Corée, République de (3 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 4510-4514; ISBN 0-7803-8232-3
LA :	Anglais
EA :	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.
CC :	001D02D
FD :	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
ED :	Human; Feedback regulation; Closed feedback; Position control; Robotics; Reduced order systems; Hybrid control; Force control; Control equipment; Actuator; Ankle; Dc motor; Servomotor; Information control; Processor; Humanoid robot; Speed reducer; Potentiometer; Mechanical clearance; Alarm; Peer to peer P2P; dynamic control
SD :	Hombre; Retroacción; Bucle realimentación cerrada; Regulación de la posición; Robótica; Control híbrida; Control fuerza; Equipo mando; Accionador; Tobillo; Motor corriente continua; Servomotor; Control información; Procesador; Robot humanoide; Reductor velocidad; Potenciómetro; Juego mecánico; Alarma; Igual a igual P2P; Comando dinámico
LO :	INIST-Y 38842.354000153471327250
ID :	06-0270422

Links to Exploration step

Pascal:06-0270422

Le document en format XML

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<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>
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<term>Position control</term>
<term>Potentiometer</term>
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<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>
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<term>Robot humanoïde</term>
<term>Réducteur vitesse</term>
<term>Potentiomètre</term>
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<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>
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<fC01 i1="01" l="ENG"><s0>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.</s0>
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<fC03 i1="03" i2="X" l="FRE"><s0>Commande boucle fermée</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Closed feedback</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Bucle realimentación cerrada</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Commande position</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Position control</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Regulación de la posición</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Robotique</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Robotics</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Robótica</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="3" l="FRE"><s0>Système ordre réduit</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="3" l="ENG"><s0>Reduced order systems</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Commande hybride</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Hybrid control</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Control híbrida</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Commande force</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Force control</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>13</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Equipement commande</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Control equipment</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Equipo mando</s0>
<s5>14</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Actionneur</s0>
<s5>18</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Actuator</s0>
<s5>18</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Accionador</s0>
<s5>18</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Cheville</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Ankle</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Tobillo</s0>
<s5>19</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Moteur courant continu</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Dc motor</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Motor corriente continua</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Servomoteur</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Servomotor</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Servomotor</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Contrôle information</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Information control</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Control información</s0>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Processeur</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Processor</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Procesador</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Robot humanoïde</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Humanoid robot</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Robot humanoide</s0>
<s5>24</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Réducteur vitesse</s0>
<s5>25</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Speed reducer</s0>
<s5>25</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Reductor velocidad</s0>
<s5>25</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Potentiomètre</s0>
<s5>26</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Potentiometer</s0>
<s5>26</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Potenciómetro</s0>
<s5>26</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Jeu mécanique</s0>
<s5>27</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Mechanical clearance</s0>
<s5>27</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Juego mecánico</s0>
<s5>27</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Alarme</s0>
<s5>41</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Alarm</s0>
<s5>41</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Alarma</s0>
<s5>41</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Réseau pair</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Peer to peer P2P</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Igual a igual P2P</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="22" i2="X" l="FRE"><s0>Commande dynamique</s0>
<s4>CD</s4>
<s5>97</s5>
</fC03>
<fC03 i1="22" i2="X" l="ENG"><s0>dynamic control</s0>
<s4>CD</s4>
<s5>97</s5>
</fC03>
<fC03 i1="22" i2="X" l="SPA"><s0>Comando dinámico</s0>
<s4>CD</s4>
<s5>97</s5>
</fC03>
<fN21><s1>170</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 06-0270422 INIST</NO>
<ET>Construction of small humanoids with a new joint actuator module</ET>
<AU>KIM (Kab-Il); SON (Young I.); KIM (Paul B. S.)</AU>
<AF>NPT Center and Dept. of Electrical Eng. Myongji University/Yong-In, Kyunggido 449-728/Corée, République de (1 aut., 2 aut.); Robotis Co., LTD. #605 Ace Techno Tower, Mullae-dong 3 ga/Yeongdungpo-gu, Seoul 150-992/Corée, République de (3 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 4510-4514; ISBN 0-7803-8232-3</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02D</CC>
<FD>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</FD>
<ED>Human; Feedback regulation; Closed feedback; Position control; Robotics; Reduced order systems; Hybrid control; Force control; Control equipment; Actuator; Ankle; Dc motor; Servomotor; Information control; Processor; Humanoid robot; Speed reducer; Potentiometer; Mechanical clearance; Alarm; Peer to peer P2P; dynamic control</ED>
<SD>Hombre; Retroacción; Bucle realimentación cerrada; Regulación de la posición; Robótica; Control híbrida; Control fuerza; Equipo mando; Accionador; Tobillo; Motor corriente continua; Servomotor; Control información; Procesador; Robot humanoide; Reductor velocidad; Potenciómetro; Juego mecánico; Alarma; Igual a igual P2P; Comando dinámico</SD>
<LO>INIST-Y 38842.354000153471327250</LO>
<ID>06-0270422</ID>
</server>
</inist>
</record>

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Construction of small humanoids with a new joint actuator module

Construction of small humanoids with a new joint actuator module

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