Design and development of research platform for perception-action integration in humanoid robot: H6

Author

Nishiwaki, K. ; Sugihara, T. ; Kagami, S. ; Kanehiro, F. ; Inaba, M. ; Inoue, H.

Author_Institution

Dept. of Mechano-Inf., Tokyo Univ., Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

1559

Abstract

A humanoid robot “H6” is developed as a platform for the research on perception-action coupling in intelligent behaviour of humanoid type robots. The H6 has the features as follows: 1) a body which has enough DOFs and each joint has enough torque for full body motion, 2) a PC/AT compatible on-board computer which is controlled by RT-linux so that low-level to high-level control is achieved simultaneously, 3) is self-contained and connected to a network via radio ethernet, 4) a 3D vision function can be applied. The H6 is expected to be a common test-bed for experiment and discussion for various aspects of intelligent humanoid robotics

Keywords

force sensors; image sensors; legged locomotion; robot vision; tactile sensors; wireless LAN; 3D vision function; H6 humanoid robot; PC/AT compatible on-board computer; RT-linux; high-level control; intelligent behaviour; intelligent humanoid robotics; low-level control; perception-action integration; radio ethernet; research platform; Computer networks; Computer vision; Ethernet networks; Humanoid robots; Intelligent robots; Joints; Motion control; Radio control; Testing; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895195

Filename

895195