Title :
Developmental methodology for building whole body humanoid system
Author :
Kanehiro, Fumio ; Tamiya, Yukiharu ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution :
Dept. of Mech.-Inf., Tokyo Univ., Japan
Abstract :
In this paper, a developmental construction methodology for a humanoid robot system is proposed. “Developmental” means that a versatile robot system is inherently a target to be developed incrementally, repetitively with inheriting results of former generations. Based on this methodology, the developmental system consists of (1) the hardware independent robot model for a skill development, (2) an action space representation for a functional development and (3) a robot body which has an onbody network for a physical development. On this system, five humanoid robots have been developed and locomotion behaviors have been realized
Keywords :
legged locomotion; action space representation; developmental construction methodology; functional development; hardware independent robot model; humanoid robots; physical development; robot body; robot system; skill development; whole body humanoid system building; Actuators; Biological system modeling; Buildings; Gravity; Hardware; Humanoid robots; Humans; Orbital robotics; Robustness;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812844
