Utilizing Serial/Parallel Linkage Mechanism in Humanoid Leg Design

Abstract– We will present the design and performance evaluation of a bipedal robot that utilizes the Hybrid Leg mechanism. It is a leg mechanism that achieves 6 DOF with a combined structure of serial and parallel mechanism, and designed to have a light structural inertia and large workspace for agile bipedal locomotion. A pair of Hybrid Legs is assembled together for bipedal locomotion. In the assembly, we adopt a pelvis structure with an yaw angle offset to enlarge the feet workspace, inspired by the toe-out angle of the human feet. The workspace and range of velocity are presented in simulation and verified with hardware experiments. A simple forward walking motion and current progress of this robot will be shown in the talk.

JoohyungKimJoohyung Kim received BSE and Ph.D. degrees in Electrical Engineering and Computer Science from Seoul National University, Korea, in 2001 and 2012. His research interests include design and control of biped robots based on animation characters, balancing and walking control for humanoid robots, and safe human-robot interaction. Prior to joining Disney Research, he was a postdoctoral fellow in CMU for DARPA Robotics Challenge in 2013. From 2009 to 2012, he was a senior engineer in Samsung Electronics, Korea, developing biped walking controllers for humanoid robots.