소아 크기의 동보행 인간형 로봇의 개발: MHR-1

As the related research have been carried out actively and successfully, humanoid robots are attracting huge attentions from various sectors worldwide. However, the level of domestic technology still cannot compare to that of leading countries where the support is much more stronger and diverse. To improve such a present situation, authors have worked on a 3-year project and come to announce the development of a new humanoid robot named MHR-1 that is 135㎝ tall and 45㎏ heavy. It possesses a total of 22 DOFs, adding up 12 for lower limbs, 8 for arms, and one for each of the neck and waist. Dynamic locomotions are enabled by two kinds of micro-controllers which are hierarchically connected via a high-speed serial communication protocol. Various walking experiments have proved MHR-1 to be stable and fairly fast. Especially, incorporated rate gyro sensors are expected to greatly enhance stability.