Engineers at the Humanoid Robot Research Center (Taejon, S. Korea) have constructed the prototype HUBO-FX1, a human-riding “robotic chair” capable of carrying a person or a load of 100 kg. The user sits in a chair structure mounted on two robot legs, and controls ambulatory motion by way of a joystick. The HUBO-FX1 can walk forward, backward, to the side, and can turn around.

Each ankle has a three-axis force/torque sensor that measures a normal force and 2 moments. Each foot has an inclination sensor that measures the angle of slope. A rate gyro and inclination sensor for the body stabilizes the robot as it walks. The HUBO-FX1 is two meters in height and 150 kg in weight.

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