2002 · 65 citations · 9 references
EngineeringMechanical EngineeringRobotics EngineeringHumanoid RoboticsMotion PlanningRoboticsGait GenerationHumanoid Robot DynamicsPerception For Humanoid RobotsRobot Control ArchitectureRobot Motion PlanningWhole-body CoordinationAction-perception LoopsAnthropomorphic Robot DesignEthernetHumanoid LocomotionHumanoid WalkingIntelligent ControlMotion GenerationPerception-action Coupling
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.
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Dynamically-Stable Motion Planning for Humanoid Robots
James Kuffner, Satoshi Kagami, Koichi Nishiwaki et al. · Autonomous Robots · 2002 · 268 citations
Engineering, Mechanical Engineering, Robotics Engineering +14