Static balancer for the neck of a face robot

Changhyun Cho, Seungjong Kim

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


We propose a 3-degree of freedom gravity compensator for the neck of a robotic face. The neck of the face robot is configured with yaw-pitch-pitch-roll rotations. Since the yaw rotation is made parallel to gravity, only the pitch-pitch-roll rotations are considered for gravity compensation. The 1-degree of freedom gravity compensator is located at the first pitch joint. A 2-degree of freedom gravity compensator equivalent to the existing gravity compensator is proposed and applied to the second pitch and roll rotations. A parallelogram is adopted between the first and second pitch rotations. One end of the 2-degree of freedom gravity compensator is attached at the parallelogram and the other is fixed at the face. Wires are used to realize a zero-length spring for all gravity compensators and all springs are located at the base for compact design. Experimental results for gravity compensation show that gravitational torques were effectively counterbalanced by the proposed 3-degree of freedom gravity compensator.

Original languageEnglish
Pages (from-to)561-568
Number of pages8
JournalProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Issue number3
Publication statusPublished - 2014 Feb

Bibliographical note

Funding Information:
This research (article) was carried out for the Intelligent Robotics Development Program, one of the Frontier R&D Programs funded by the Ministry of Knowledge Economy (MKE). This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2013R1A1A2009007)


  • Static balancing
  • face robot
  • gravity compensation
  • spring

ASJC Scopus subject areas

  • Mechanical Engineering


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