Humanoid History -Computer-Aided Design System for Robotics -

Computer-Aided Design System for Robotics

Robots are mathematically considered a system that consists of multi-links with multi-degrees of freedom. The development of a software system to analyze and also design universal multi-link systems was started in l979.

Simulation of Biped Walking (1979)

Computer-Aided Design System for Link Mechanisms (1979)

A simulation-system for the dynamic analysis and the design of mechanisms was constructed on a main frame computer. This study aimed to design machines effectively and rapidly. Using this system, the movement of a machine could be graphically displayed by just inputting the shape of its parts, the mechanical structure and the external forces.

Design for manipulator (1972)

Computer-Aided Design System for Artificial Limbs (1980~1981)

An interactive computer system was developed to aid the design of artificial limbs. It simulated limbs as link-mechanisms with multi-degrees of freedom and then calculated the force of each joint by giving their trajectories or calculated the trajectory of each joint by giving the external forces.

Link model (1983)

Computer-Aided Design System for Robotics (1982~1983)

An interactive software system was constructed, in which the modeling and the dynamic equations of a robot having arbitrary degrees of freedom were automatically created and solved. This system could also be applied to a link mechanism having a control system.

Three dimensional graphics of a walking robot by WALK MASTER-2 (1984)

Trajectory of ZMP and projected center of gravity (1984)

Computer-Aided Composition System for Walking Pattern: WALK MASTER-2 (1984)

The interactive software-system WALK MASTER-2 was written for a personal computer to analyze and compose the walking pattern of a biped walking robot. This system enables the analysis of the ZMP (zero moment point) when the biped robot is walking, and the composition of a walking pattern combined with the robot's actuator's characteristics on three-dimensional graphics.

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