DocumentCode :
2614867
Title :
Humanoid robot that achieves bipedal walk, visual recognition, and multiple finger grasp
Author :
Tsuji, Tokuo ; KANEKO, Kenji ; Harada, Kensuke ; Kanehiro, Fumio ; Morisawa, Mitsuharu
Author_Institution :
Intell. Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan
fYear :
2011
fDate :
26-28 Oct. 2011
Firstpage :
75
Lastpage :
80
Abstract :
In this paper, we develop a humanoid robot HRP-3χ where a multi-fingered hand is attached to the original HRP-3. By installing the visual recognition module for a single camera and the grasp planning module for the multi-fingered hand to the control software, HRP-3χ can recognize the position/orientation of the object and can calculate its grasping posture at online. Here, visual recognition module of a single camera is shown to be efficient. The effectiveness of the proposed HRP-3χ is confirmed by experimental result in which the robot achieves bipedal walk, visual recognition, and multiple finger grasp.
Keywords :
humanoid robots; image recognition; legged locomotion; robot vision; HRP-3; bipedal walk; control software; grasp planning module; grasping posture; humanoid robot HRP-3χ; multifingered hand; multiple finger grasp; visual recognition module; Image edge detection; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on
Conference_Location :
Bled
ISSN :
2164-0572
Print_ISBN :
978-1-61284-866-2
Electronic_ISBN :
2164-0572
Type :
conf
DOI :
10.1109/Humanoids.2011.6100821
Filename :
6100821
Link To Document :
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