Title :
Elements of humanoid robot technology
Author :
Sugihara, Tomoyuki ; Yamane, Keisaku ; Okada, Masayuki ; Nakamura, Yoshihiko
Author_Institution :
Dpt. of Mechano-Informatics, Tokyo Univ., Japan
Abstract :
This paper introduces elemental approaches devised in our group to tackle both mathematical and technical key issues on the realization of sophisticated humanoid robots. Substantial difference of humanoids from industrial arms in terms of kinetics lies on a large number of degrees-of-freedom and discontinuity with collision and contact. Our innovations against them cover particular methods of body design, kinetics computation and motion control.
Keywords :
humanoid robots; motion control; robot dynamics; body design method; humanoid robot technology; industrial arms; kinetics computation; motion control; Actuators; Computational efficiency; Design methodology; Distributed control; Humanoid robots; Humans; Joints; Kinetic theory; Motion control; Paper technology;
Conference_Titel :
Robotics and Automation, 2004. TExCRA '04. First IEEE Technical Exhibition Based Conference on
Print_ISBN :
0-7803-8564-0
DOI :
10.1109/TEXCRA.2004.1424985
