Title:
Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation
Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation
Author(s)
Stilman, Mike
Olson, Jon
Gloss, William
Olson, Jon
Gloss, William
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Abstract
What would humans be like if nature had invented
the wheel? Golem Krang is a novel humanoid torso designed at
Georgia Tech. The robot dynamically transforms from a .5 m static to a 1.5 m dynamic configuration. Our robot development
has led to two advances in the design of platforms for mobility
and manipulation: (1) A 2-DOF robot base that autonomously
stands from horizontal rest; (2) A 4-DOF humanoid torso that
adds a waist roll joint to replicate human torso folding and a
yaw joint for spine rotation. The mobile torso also achieves
autonomous standing in a constrained space while lifting a
40 kg payload. Golem validates our assertions by consistently
achieving static-dynamic transformations. This paper describes
the design of our mobile torso. It considers a number of factors
including its suitability for human environments, mechanical
simplicity and the ability to store potential and kinetic energy
for handling heavy human and even super-human tasks.
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Date Issued
2010-05
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Text
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Proceedings