Abstract Many researchers are studying on humanoid robots in all over the world. However the humanoid robots are still limited in doing works like picking up objects on the ground or moving rapidly. In this study, a humanoid robot based on the wheel-driving was developed. It can operate with a human working area keeping the stability. Also, the developed robot can take up the object on the floor since it has knee(1DoF) and waist(3DoF), and do service quickly and steadily. The hardware and software structure and algorithms of the developed robot, SEROPI are introduced in this paper.

• 최무성 | Moosung Choi
• 신은철 | Eun-Cheol Shin
• 양광웅 | Kwang-Woong Yang
• 김홍석 | Hong-Seok Kim