Biped humanoid robot Mahru III

Abstract

This paper presents a new biped humanoid robot Mahru III (150 cm, 62 Kg) developed by Samsung Electronics Co., Ltd in 2007. The ultimate goal of this project is to design biped humanoid robots connected to a wireless network environment so that they can be used in our daily life. As the first step, Mahru III was built as a pilot platform for future household companion robots. In this paper we focus on the design of the mechanical system, electrical/electronic parts, and the control algorithm with some experimental results. We designed the mechanical system to achieve lightweight, high stiffness and high energy efficiency through CAE(computer aided engineering) analysis and DOE(design of experiments)-based optimization. We also built an extensible electrical/electronic system to provide for future network-based applications. Walking control algorithm is realized to make stable walking on an uneven floor possible. The experiments of the first phase shows that our humanoid can walk at 1.3 km/h and overcome 1 cm protrusions successfully.