Development of sensor system of a small biped entertainment robot

Author

Ishida, Tomoyuki ; Kuroki, Yoshihoro

Author_Institution

Entertainment Robot Co., Sony Corp., Tokyo, Japan

Volume

1

fYear

2004

fDate

26 April-1 May 2004

Firstpage

648

Abstract

SDR-4X II is the latest prototype model which is a small biped entertainment robot. We improved the SDR-4X. In this paper we report about the sensor system of this robot which is important and essential for a small biped entertainment robot which can be used in the home environment. One technology is the design of a vision sensor system. The configuration and the distance image acquisition are explained. Another technology is the audio sensor system technology which obtains the sound and the voice information. The hardware system and the direction recognition are explained. Next technology is the inclination sensor system and the force sensor system which obtains the inclination of the trunk and the foot with force. These sensor systems are the key to make the biped robot walking and dynamic motion highly stable. The robot is used in normal home environment, so we should strongly consider the safety for humans. Lastly we explain the safety sensor system for humans.

Keywords

force sensors; image sensors; legged locomotion; robot vision; safety systems; sensor fusion; service robots; audio sensor system technology; distance image acquisition; dynamic motion; force sensor system; inclination sensor system; safety sensor system; small biped entertainment robot; vision sensor system; Domestic safety; Foot; Force sensors; Hardware; Humans; Legged locomotion; Machine vision; Prototypes; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307222

Filename

1307222