DocumentCode
3106366
Title
Elements of humanoid robot technology
Author
Sugihara, Tomoyuki ; Yamane, Keisaku ; Okada, Masayuki ; Nakamura, Yoshihiko
Author_Institution
Dpt. of Mechano-Informatics, Tokyo Univ., Japan
fYear
2004
fDate
18-19 Nov. 2004
Firstpage
39
Lastpage
40
Abstract
This paper introduces elemental approaches devised in our group to tackle both mathematical and technical key issues on the realization of sophisticated humanoid robots. Substantial difference of humanoids from industrial arms in terms of kinetics lies on a large number of degrees-of-freedom and discontinuity with collision and contact. Our innovations against them cover particular methods of body design, kinetics computation and motion control.
Keywords
humanoid robots; motion control; robot dynamics; body design method; humanoid robot technology; industrial arms; kinetics computation; motion control; Actuators; Computational efficiency; Design methodology; Distributed control; Humanoid robots; Humans; Joints; Kinetic theory; Motion control; Paper technology;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. TExCRA '04. First IEEE Technical Exhibition Based Conference on
Print_ISBN
0-7803-8564-0
Type
conf
DOI
10.1109/TEXCRA.2004.1424985
Filename
1424985
Link To Document