セッションID: 1A1-D09
会議情報
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2021
開催日: 2021/06/06 - 2021/06/08
2足ヒューマノイドロボットの開発
―上体部の設計開発―
詳細
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2021
開催日: 2021/06/06 - 2021/06/08
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.
