Kinematic analysis of a humanoid robot CHP-1 and selection of motors in consideration of cooperative motion

Abstract

A lower-part humanoid robot CHP-1 with 12 degree-of-freedom of motion has been developed for cooperative motion, such as pushing or lifting an object. The capability of the robot is mainly dependent on the performance of the motors, thus the motors need to be properly selected. For the purpose, the kinematics of the robot was analyzed, and a number of simulations for two kinds of cooperative motions were carried out. The torques required at each motor of the robot under external forces were obtained. Here, the external forces were also estimated through simulation and literature survey. On the basis of the torques found, the selection of motors was finally suggested, and the motors are to be installed to the humanoid robot.

Keywords

humanoid robot / motor selection / cooperative motion / kinematics

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