Title :
A small biped entertainment robot
Author :
Kuroki, Yosh Ihiro
Author_Institution :
Digital Creatures Lab., Sony Corp., Tokyo, Japan
Abstract :
We propose a small biped entertainment robot, SDR-3X (a prototype Sony Dream Robot) which enables the motion entertainment, i.e., entertaining people with its controlled dynamic motion performances. Some of the new key technologies have been developed to realize the SDR-3X. One is the newly developed robot actuator named intelligent servo actuator (ISA). The ISA is the trine-actuator composed of a motor unit, a built-in control unit and a gear unit. The ISA features dynamic and high power output from a small, lightweight actuator. Another technology is the whole body coordinated dynamic motion control method. It realizes stable biped walking and stable whole-body dynamic motion performances
Keywords :
electric actuators; legged locomotion; motion control; robot dynamics; Dream Robot; SDR-3X; Sony; biped robot; entertainment robot; intelligent servo actuator; motion control; whole-body dynamics; Gears; Instruction sets; Intelligent actuators; Intelligent robots; Legged locomotion; Motion control; Prototypes; Robot kinematics; Servomechanisms; Servomotors;
Conference_Titel :
Micromechatronics and Human Science, 2001. MHS 2001. Proceedings of 2001 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-7190-9
DOI :
10.1109/MHS.2001.965213
