Design and development of a legged robot research platform JROB-1

Author

Kagami, Satosh ; Kabasawa, Mitsutaka ; Okada, Kei ; Matsuki, Takeshi ; Matsumoto, Yoshio ; Konno, Atsushi ; Inaba, Masayuki ; Inoue, Hirochika

Author_Institution

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

Volume

1

fYear

1998

fDate

16-20 May 1998

Firstpage

146

Abstract

A legged robot “JROB-1” is developed for a robotics research platform as a result of inter-university research program on intelligent robotics supported by the Ministry of Education Grant-in-Aid for Scientific Research on Priority Areas in Japan. The JROB-1 features: 1) self-contained, 2) RT-Linux running on PG/AT processes vision and sensor processing, motion planning and control, 3) connected to a network via radio Ethernet as to utilize networked resources, 4) Fujitsu color tracking vision board and Hitachi general purpose vision processing board, 5) all parts are commercially available, and 6) it is extensible with respect to sensor, sensor processing hardware and software. JROB-1 is expected to be a common testbed for experiment and intelligent robotics research by integrating perception and motion

Keywords

intelligent control; legged locomotion; path planning; robot vision; wireless LAN; JROB-1 legged robot; color tracking vision; intelligent robotics; mobile robots; motion planning; radio Ethernet; robot vision; Educational programs; Educational robots; Intelligent robots; Intelligent sensors; Legged locomotion; Motion control; Motion planning; Process planning; Robot sensing systems; Sensor phenomena and characterization;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.676343

Filename

676343