Mechanisms of inner skeleton frame type biped walking robot

摘要

In this study, we report about mechanisms of a biped walking robot ISR-1 (Inner Skeleton typeRobot 1). We have developed a light weight robot applied the inner skeleton frames and cooperativemotion of two or three actuators for one degree of freedom. Total degrees of freedom are 18 degrees.Each joint of the robot is driven by 16 actuators. Main actuator is screw cylinder type actuator thatgives liner motion. This robot equips with two gyros on head and six force sensors at feet for balancecontrol. We have confirmed walking possibility of the robot.