A remote-brained full-body humanoid with multisensor imaging system of binocular viewer, ears, wrist force and tactile sensor suit

Author

Inaba, Masayuki ; Ninomiya, Tetsuo ; Hoshino, Yukiko ; Nagasaka, Kenichiro ; Kagami, Satoshi ; Inoue, Hirochika

Author_Institution

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

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2497

Abstract

A robot body is not only an active unit but also a sensing unit. This paper describes a humanoid that integrates stereo vision, full-body tactile sensor, sound sensors and wrist force sensors into a sensor image. The sensor image reflects the current state of the environment and is regarded as all the input to the robot brain in this system. The brain program processes a series of sensor images and controls its body using them. The robot is remote-brained and designed to be a testbed to do research on sensor based behaviors of a full-body humanoid. This paper describes the design concept and the details of the system

Keywords

acoustic transducers; intelligent control; robot vision; sensor fusion; stereo image processing; tactile sensors; telerobotics; binocular viewer; brain program; ears; multisensor imaging system; remote-brained full-body humanoid; sound sensors; stereo vision; tactile sensor suit; wrist force sensor; Acoustic sensors; Force sensors; Humanoid robots; Image sensors; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Stereo vision; Tactile sensors; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619336

Filename

619336