Title :
Development of a two-armed bipedal robot that can walk and carry objects
Author :
Kanehiro, F. Umio ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
We have focused on actions of a humanlike robot which has the whole body and realized actions such as “walk”, “roll over” and “stand up”. In this research, we design and implement the whole body humanlike robot that can perform a “carry objects” action. Keys to realizing a carrying action are (1) the robot system which has a lightweight whole body robot and a powerful brain which can process a multi joint model of the body, (2) the model environment which can generate walking patterns on the horizontal ground, stairs and a slope by moving its centroid and (3) gravity compensation based on modeling of the actuator
Keywords :
actuators; compensation; legged locomotion; telerobotics; gravity compensation; horizontal ground; humanlike robot; model environment; multi joint model; roll; slope; stairs; stand up; two-armed bipedal robot; walk; walking patterns; Actuators; Biological system modeling; Brain modeling; Gravity; Humans; Joints; Legged locomotion; Power system modeling; Robot sensing systems; Robot vision systems;
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
DOI :
10.1109/IROS.1996.570617
