Behavior developing environment for the large-DOF muscle-driven humanoid equipped with numerous sensors
Behavior developing environment for the large-DOF muscle-driven humanoid equipped with numerous sensors
复制标题
配备大量传感器的大自由度肌肉驱动类人机器人的行为开发环境
DOI：
10.1109/robot.2003.1241878
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
H. Inoue
中科院分区：
文献类型：
--
作者：
I. Mizuuchi;T. Yoshikai;D. Sato;S. Yoshida;M. Inaba;H. Inoue
机器人具有复杂的身体结构和众多的执行器和传感器，其运动和行为的开发是非常重要和困难的。类人的身体越复杂，其运动和行为的发展环境就越重要。我们已经建立了一个完全由肌肉驱动的柔性脊椎类人机器人Kenta，它有96个执行器和400多个传感器，包括张力传感器，姿态传感器，视觉传感器等。一个可视化的几何模型，一个对真实的环境透明的仿真环境，运动开发的示例程序，并作为一个例子，实现由健太摆动行为。
It is very important and hard to develop motions and behaviors for robots that have complex body and numerous actuators and sensors. The more complex a humanoid's body becomes, the more important the developing environment of the motions and behaviors will be. We have built a fully muscle-driven flexible-spine humanoid named "Kenta", which has 96 actuators and more than 400 sensors including tension sensors, posture sensors, vision sensors, and so on. This paper describes the developing environment of motions and behaviors for the robots like Kenta. A visualizable geometric model, a simulation environment transparent to the real environment, sample procedures of the motion development, and, as an example, realization of swing behavior by Kenta are presented.
DOI：
10.1109/irds.2002.1041647
发表时间：
2002-12
期刊：
IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
K. Okada;Y. Kino;F. Kanehiro;Y. Kuniyoshi;M. Inaba;H. Inoue
通讯作者：
K. Okada;Y. Kino;F. Kanehiro;Y. Kuniyoshi;M. Inaba;H. Inoue