Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
This paper describes the mechanisms of the upper body of a biped humanoid robot (KBHR-2). The KBHR-2 is composed of 23 DOFs, such as 6-DOFs in each leg, 4-DOFs in each arm, 3-DOFs in the waist. The movable angles of the KBHR-2 are about the same as those of a human. The robot is mainly made of aluminum alloy. The aluminum alloy is anodized to prevent the current from flowing through it. Its height is 1.40 [m] and its weight is 46.0 [kg]. Through the basic experiment of the upper body, the effectiveness of the mechanism of the upper body is confirmed.
