No.3 [ Individual Work ]Classification : Biped Humanoid
Name : KR-1 BLAST
Date : 2006.07 ~ 2007.01
Overview
A middleweight intelligent biped robot assembled using torque exceeding 60kg of 20 RX-64 motors (approx. $10,000) funded by the government. It can go through a maze on its own, able to run while keeping distance from the walls, automatically getting up is possible through the sensors.
Description
1. Specification
- Weight: 4.4 (kg)
- Number of Degree of Freedom: 23 DOF
- Communication system: Blue-tooth
- Motors: Robotis RX-64, DX-117- MCU: AVR 128
- Sensors: Gyro sensor, Tilt Sensor 2EA, PSD Sensor 6EA
2. Functions
- Primary movement: Walking(front) 6 kind of algorithms, Walking(back), Walking(left/right),
- Movement for fight: Fight (front/back/left/right), Defense,
- Performance: Dance, Going up stairs, Archery, Rope skipping, etc.
- Self-movement: Going through a maze, Running while keeping distance from the walls, Automatic getting up when falling down
3. Major Development
- Designed the platform (H/W) using 3D cad tools
- Developed firmwares that enable real-time motion through RS232 serial communication
- Controlled motors, developed walking algorithms using ZMP ( Zero Momentum Point ) and Inverse Kinematics
Activities
1. Robot demonstration on many TV programs
2. Competed in Korean ROBO-ONE Champion Finals
3. Ubiquitous Robot Competition 2006 on “Robo-Champ” of Korean Broadcasting System
( 5th place in Qualifications, and 6th in Main Tournaments )
4. Robot World 2006 Robot dance 1st place in main tornament
▶ 3D CAD Design
▶ Cover model on a famous robot magazine
▶ Appeared on KBS URC 2006 TV Program
▶ Appeared on M-Zone Internet TV program
▶ With robots of our club
▶ My working environment and KR-1 Blast
▶ Practicing going through a maze with sensors only
▶ Appeared on an Internet TV progam
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