Design and implementation of software research platform for humanoid robotics: H6

Author

Kagami, Satoshi ; Nishiwaki, Koichi ; Sugihara, Tomomichi ; Kuffner, James J., Jr. ; Inaba, Masayuki ; Inoue, Hirochika

Author_Institution

Dept. of Mech.-Inf., Tokyo Univ., Japan

Volume

3

fYear

2001

fDate

6/23/1905 12:00:00 AM

Firstpage

2431

Abstract

The H6 humanoid robot has been developed as a platform for the research on perception-action coupling in intelligent behaviour of humanoid type robots. The H6 features: 1) a body which has enough DOFs and each joint has enough torque for full body motion; 2) a PC/AT compatible high-performance on-board computer which is controlled by RT-Linux so that from low-level to high-level control is achieved simultaneously; 3) self-contained and connected to a network via radio Ethernet; and 4) dynamic walking trajectory generation, motion planning and 3D vision functions are available. The H6 can be used as a common test-bed in experiment for various aspects of intelligent humanoid robotics.

Keywords

legged locomotion; motion control; path planning; robot dynamics; robot vision; 3D vision; H6 humanoid robot; PC/AT compatible; dynamics; intelligent behaviour; motion control; motion planning; perception-action; radio Ethernet; walking trajectory; Computer networks; Computer vision; Ethernet networks; Humanoid robots; Intelligent robots; Joints; Legged locomotion; Motion control; Radio control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932986

Filename

932986