Experimental StudyforaFIBOHumanoid Robot

Thispaperpresents theprogress oftheFIBO HumanoidRobot(FHR-1)called"Somjuk".The project, involved fouryears, isaimedattherealization ofthelowerpart ofananthropomorphic humanoid robot. Therobotincluded two legs, twofeet adatrunk.Thispaperdescribes themechanism, controller architecture, footforcetorquesensorandwalking strategy ofthedeveloped bipedrobot.An experimental result showsthattherobotiscapable ofkeeping itsZMP atits stabilized region inspite ofsuppressing theinherent vibration duetoa mechanical structure andalsoimpactforceduring contacting groundfloor. Keywords-humanoid robot, biedrobot, dynamic walking