The main theme of this paper is focused on the designs of servomechanism and dynamic sensing system for the autonomous dynamic balance of humanoid robot. The servomechanism design includes the following four parts: (i) the lag mechanism with 7 degree-of-freedom (DOF), (ii) the hand mechanism with 4 DOF, (iii) the head and body mechanism with 2 DOF, and (iv) the driving circuit of servomotor. Most important subjects are the improvement of servo stiffness and the passive dynamic walking and running using springs. In addition, the dynamic sensing system includes the following four parts: (i) three axes accelerometer transmission module, (ii) the force detecting module, (iii) the gyro detecting module, and (iv) the decoder module of servomotor. Based on the above designs, the architecture of the autonomous dynamic balance of humanoid robot is achieved.
Proceedings of the 2008 CACS International Automatic Control Conference，6頁