Title :
Motion evaluating system for a small biped entertainment robot
Author :
Kuroki, Yoshihiro ; Kato, Keisuke ; Nagasaka, Kenichiro ; Miyamoto, Atsushi ; Ueno, Ken´ichiro ; Yamaguchi, Jin´ichi
Author_Institution :
Entertainment Robet Co., Sony Corp., Tokyo, Japan
fDate :
April 26-May 1, 2004
Abstract :
We have been developing a small biped entertainment robot and expanding its capabilities for adaptability and mobility in the home environment with enhanced core technologies. Conspicuous enhancements are a new robot actuator, ISA and Real-time Integrated Adaptive Motion Control System as a comprehensive motion control for SDR to realize the dynamic and smooth/elegant motion performances. In order to evaluate the basic motion control capabilities we propose a new motion evaluating system for a small biped entertainment robot. The system is composed of the SDR Motion Base and the control system. We have developed a serial-parallel hybrid type mechanism to apply for the basic experiment of SDR´s motion control capabilities. We discuss the design concept of the motion evaluating system and the experimental method using the proposed Motion Base.
Keywords :
adaptive control; control engineering computing; entertainment; intelligent actuators; mobile robots; motion control; motion estimation; servomotors; Sony dream robot motion base; comprehensive motion control; enhanced core technologies; home environment; intelligent servo actuator; motion evaluating system; real time integrated adaptive motion control system; robot actuator; serial parallel hybrid type mechanism; small biped entertainment robot; Adaptive control; Adaptive systems; Control systems; Fingers; Instruction sets; Intelligent actuators; Intelligent robots; Intelligent sensors; Motion control; Programmable control;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308862
