Title :
A 35 DOF humanoid that can coordinate arms and legs in standing up, reaching and grasping an object
Author :
Inaba, Masayuki ; Igarashi, Takashi ; Kagami, Satoshi ; Inoue, Hirochika
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
We present a 35 DOF full-body humanoid is designed to be a testbed to integrate research tools for humanoid full-body behaviors. Each limb has 6 DOF. The neck has 3 DOF. Each hand has 4 DOF. The key idea of the system architecture is the remote-brained approach. This paper describes the design concept and the details of the system and introduces experiments to stand up using table for support and to perform action selection in reaching and grasping an object based on vision
Keywords :
intelligent control; legged locomotion; robot vision; telerobotics; 35 DOF humanoid; action selection; grasping; humanoid full-body behaviors; reaching; remote-brained approach; standing up; Arm; Humanoid robots; Intelligent robots; Leg; Power system modeling; Robot kinematics; Robot programming; Robot sensing systems; Robot vision systems; Testing;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570622
