Experimental Study for a FIBO Humanoid Robot

摘要

This paper presents the progress of the FIBO humanoid robot (FHR-1) called "Somjuk". The project, involved four years, is aimed at the realization of the lower part of an anthropomorphic humanoid robot. The robot included two legs, two feet ad a trunk. This paper describes the mechanism, controller architecture, foot force torque sensor and walking strategy of the developed biped robot. An experimental result shows that the robot is capable of keeping its ZMP at its stabilized region in spite of suppressing the inherent vibration due to a mechanical structure and also impact force during contacting ground floor