Chung J.-W.,Agency for Defense Development |
Lee I.-H.,Humanoid Robot Research Center |
Cho B.-K.,Kookmin University |
Oh J.-H.,Humanoid Robot Research Center
Journal of Intelligent and Robotic Systems: Theory and Applications | Year: 2013
This paper proposes a posture stabilization strategy for achieving the stable trot gait of a point-foot quadruped robot. Specifically, a stepping strategy (foot placement strategy) has been developed to achieve a stable trot gait. Because in the trot gait of a quadruped robot the diagonal legs can be considered to contact and leave the ground at the same time, the trot gait can be considered as a virtual biped gait. Based on the dynamic model of a virtual biped gait, the stepping point (or the foot placement) that achieves the stabilization of the robot is determined. Finally, the effectiveness of the proposed posture stabilization strategy is validated experimentally. © 2013 Springer Science+Business Media Dordrecht.
Joh H.-I.,Korea Institute of Science and Technology |
Joh H.-I.,Seoul National University |
Ha T.J.,Korea Institute of Science and Technology |
Hwang S.Y.,Korea Institute of Science and Technology |
And 10 more authors.
Journal of Power Sources | Year: 2010
In this study, a direct methanol fuel cell (DMFC) system, which is the first of its kind, has been developed to power a humanoid robot. The DMFC system consists of a stack, a balance of plant (BOP), a power management unit (PMU), and a back-up battery. The stack has 42 unit cells and is able to produce about 400 W at 19.3 V. The robot is 125 cm tall, weighs 56 kg, and consumes 210 W during normal operation. The robot is integrated with the DMFC system that powers the robot in a stable manner for more than 2 h. The power consumption by the robot during various motions is studied, and load sharing between the fuel cell and the back-up battery is also observed. The loss of methanol feed due to crossover and evaporation amounts to 32.0% and the efficiency of the DMFC system in terms of net electric power is 22.0%. © 2009 Elsevier B.V. All rights reserved.