A small biped entertainment robot

Author

Kuroki, Yosh Ihiro

Author_Institution

Digital Creatures Lab., Sony Corp., Tokyo, Japan

fYear

2001

fDate

2001

Firstpage

3

Lastpage

4

Abstract

We propose a small biped entertainment robot, SDR-3X (a prototype Sony Dream Robot) which enables the motion entertainment, i.e., entertaining people with its controlled dynamic motion performances. Some of the new key technologies have been developed to realize the SDR-3X. One is the newly developed robot actuator named intelligent servo actuator (ISA). The ISA is the trine-actuator composed of a motor unit, a built-in control unit and a gear unit. The ISA features dynamic and high power output from a small, lightweight actuator. Another technology is the whole body coordinated dynamic motion control method. It realizes stable biped walking and stable whole-body dynamic motion performances

Keywords

electric actuators; legged locomotion; motion control; robot dynamics; Dream Robot; SDR-3X; Sony; biped robot; entertainment robot; intelligent servo actuator; motion control; whole-body dynamics; Gears; Instruction sets; Intelligent actuators; Intelligent robots; Legged locomotion; Motion control; Prototypes; Robot kinematics; Servomechanisms; Servomotors;

fLanguage

English

Publisher

ieee

Conference_Titel

Micromechatronics and Human Science, 2001. MHS 2001. Proceedings of 2001 International Symposium on

Conference_Location

Nagoya

Print_ISBN

0-7803-7190-9

Type

conf

DOI

10.1109/MHS.2001.965213

Filename

965213