Development of a light-weight biped humanoid robot

Author

Konno, Atsushi ; Kato, Noriyoshi ; Shirata, Satoshi ; Furuta, Tomoyuki ; Uchiyama, Masaru

Author_Institution

Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

1565

Abstract

In order to meet the demand of a research platform for intelligent robotics, a humanoid robot named Saika-3 has been developed. It is a self-sustaining biped robot with dual arms and a robotic head. It is equipped with a PC (IBM PC/AT clone), batteries, a wireless ethernet modem, a gyroscope and motor drivers inside its body. Saika-3 can be teleoperated via wireless´ ethernet communication. A graphic dynamic simulator is also developed to study control strategy. The paper presents an outline of the hardware of Saika-3 and a simulation result

Keywords

CCD image sensors; digital simulation; force measurement; force sensors; legged locomotion; telerobotics; wireless LAN; Saika-3; control strategy; graphic dynamic simulator; gyroscope; intelligent robotics; light-weight biped humanoid robot; motor drivers; research platform; self-sustaining biped robot; wireless ethernet modem; Batteries; Cloning; Ethernet networks; Graphics; Gyroscopes; Humanoid robots; Intelligent robots; Manipulators; Modems; Wireless communication;

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.2000.895196

Filename

895196