The Development of Biped Robot MARI-3 for Fast Walking and Running

摘要

A biped robot MARI-3 for fast walking and running is developed. Its mechanical structure including the joint configuration and specification, the structure of knee joint, the speed reduction mechanism, and the mechanical stopper are described in detail. A specific control system RON (RObot Network) for MARI-3 that is a serial and distributed network and consists of a microcontroller, host unit, servo units, sensor units, and servo amplifiers are presented as well as sensor system. With the developed biped robot MARI-3, biped walking and one-leg jumping which jumping time is 110 [ms] are implemented as basic and verification experiments for fast walking and running