DocumentCode
2409746
Title
A 35 DOF humanoid that can coordinate arms and legs in standing up, reaching and grasping an object
Author
Inaba, Masayuki ; Igarashi, Takashi ; Kagami, Satoshi ; Inoue, Hirochika
Author_Institution
Dept. of Mechano-Inf., Tokyo Univ., Japan
Volume
1
fYear
1996
fDate
4-8 Nov 1996
Firstpage
29
Abstract
We present a 35 DOF full-body humanoid is designed to be a testbed to integrate research tools for humanoid full-body behaviors. Each limb has 6 DOF. The neck has 3 DOF. Each hand has 4 DOF. The key idea of the system architecture is the remote-brained approach. This paper describes the design concept and the details of the system and introduces experiments to stand up using table for support and to perform action selection in reaching and grasping an object based on vision
Keywords
intelligent control; legged locomotion; robot vision; telerobotics; 35 DOF humanoid; action selection; grasping; humanoid full-body behaviors; reaching; remote-brained approach; standing up; Arm; Humanoid robots; Intelligent robots; Leg; Power system modeling; Robot kinematics; Robot programming; Robot sensing systems; Robot vision systems; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location
Osaka
Print_ISBN
0-7803-3213-X
Type
conf
DOI
10.1109/IROS.1996.570622
Filename
570622
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