Gearboxes used in the drivetrain of intelligent robots are key mechanical components that play a significant role in determining the performance of modern robotic systems. Gearboxes employing the planetary gear mechanism, known to achieve a wide range of reduction ratios while remaining relatively cost-effective, have recently been adopted in robot drivetrains. In this paper, we utilize domestic technology to fabricate a gearbox using a compound planetary gear mechanism and conduct an evaluation of eight performance aspects of the developed gearbox through the fabrication of a dynamometer and a jig. The dynamometer comprised of the gearbox, input motor, input-output torque sensors, and a powder brake. By driving the input motor and applying braking force with the powder brake, we compare input torque sensor values with output torque sensor values to derive results. A test jig is created, consisting of an input motor, gearbox, and encoder sensor, for the measurement of inverse operation characteristics and backlash. By conducting a performance evaluation of the developed high-strength, high-reduction-ratio compact planetary gearbox, we validate the potential of the testing system and extend the scope of domestic gearbox technology development.

A depth image camera is used for efficient estimation of walking intention of a pedestrian. Three-Dimensional image coordinates of the pedestrian’s joints are obtained from the image data that includes depth information and are converted into the absolute coordinate values. The absolute coordinate data are classified and matched with all 20 joints of a pedestrian and the 9 joints that are corresponding the lower limbs are finally selected. After calculating each three-dimensional area of a triangle that was formed with the adjacent 3 joints of the 9 lower limb joints, the centroid of all triangles along time is obtained. The walking intention, that includes the direction and the speed of walking, can be estimated with the change rate of this centroid. It is experimentally verified by comparing the distance that is measured with inertia moment unit and the distance that the calculated centroid is moving.