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Technology Factsheet

SNU - THORMANG

Category: Robotics > Other > Leg-based System
Reference # : Model No :

The robot can perform several tasks like driving, egress, operating a valve, opening & closing door, climbing stairs and useful in debris clearance. Data: Height 4ft 10in (1.47m). Weight 108lbs (49kg). Wingspan: 77in (1.95m)

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Whole-body Control The whole-body control framework based on the operational space control [1] implemented for the robot. Recent implementation results were presented in Humanoids 2014 [2]. [1] J. Park, O. Khatib. Contact Consistent Control Framework for Humanoid Robots. International Conference on Robotics and Automation, presented at Orlando, Florida, 15-19 May 2006. [2] M. Schwartz, S. Hwang, Y. Lee, J. Won, S. Kim, and J. Park. Aesthetic Design and Development of Humanoid Legged Robot. International Conference on Humanoid Robots, presented at Madrid, Spain, 18-20 Nov 2014. Interface The team uses software RoboticsLab from SimLab, Inc. [3] for controlling the robot in real-time. The software also provides a simulation environment to simulate the same robot with the same control code. [3] http://www.simlab.co.kr/

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