Lee, Yong-Kwun Lim, Dong-Won 2024-01-20T16:33:11Z 2024-01-20T16:33:11Z 2021-09-05 2011-08 2234-7593 https://pubs.kist.re.kr/handle/201004/130126 This paper describes an endoskeleton anthropomorphic biped robot design and construction. The endoskeleton structure is aimed for robot's high power efficiency over its weight, but it demands unique structure and devices of the robot coping with the complexity. The gadgets newly developed for the robot such as a linear actuator, coupled link mechanism, inertia and Zero Moment Point(ZMP) sensors are described. The corresponding design procedure inevitably becomes sophisticated, so the powerful design tool to deal with this difficulty is utilized, and the way is explained. Feedback control scheme was established for its stable walking. Based on the outcome of the design, analysis, and simulation data, the actual robot was constructed and the paper shows its successful experimental results. English KOREAN SOC PRECISION ENG An Endoskeleton Framework Biped Robot, "ADDAM" with Coupled Link Mechanism Article 10.1007/s12541-011-0079-7 1 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.12, no.4, pp.613 - 621 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 12 4 613 621 scopus kci ART001573618 000293195900005 2-s2.0-79961070438 Engineering, Manufacturing Engineering, Mechanical Engineering Article Biped Robot Anthropomorphic High-efficiency Linear actuator Parallel Link Mechanism DOE with CAE