Humanoid TeenSize Open Platform NimbRo-OP
Humanoid TeenSize Open Platform NimbRo-OP
复制标题
人形 TeenSize 开放平台 NimbRo-OP
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Sven Behnke
中科院分区：
文献类型：
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作者：
Max Schwarz;Julio Pastrana;Philipp Allgeuer;M. Schreiber;Sebastian Schüller;M. Missura;Sven Behnke
近年来，在类人联盟的KidSize类中引入负担得起的平台对足球机器人的性能产生了积极的影响。然而，缺乏现成的大型机器人，严重影响了青少年和成人尺寸的参与者数量，从而影响了专注于更大重量和尺寸的机器人所带来的挑战的研究进展。本文介绍了第一个硬件版本的低成本的人形TeenSize开放平台的研究，第一个软件版本，和基于操作系统的软件开发的现状。NimbRo-OP机器人的设计易于制造、组装、维修和修改。它配备了广角摄像头，充足的计算能力和足够的扭矩，以实现全身运动，如动态双足运动，踢和起床。
In recent years, the introduction of affordable platforms in the KidSize class of the Humanoid League has had a positive impact on the performance of soccer robots. The lack of readily available larger robots, however, severely affects the number of participants in Teen- and AdultSize and consequently the progress of research that focuses on the challenges arising with robots of larger weight and size. This paper presents the first hardware release of a low cost Humanoid TeenSize open platform for research, the first software release, and the current state of ROS-based software development. The NimbRo-OP robot was designed to be easily manufactured, assembled, repaired, and modified. It is equipped with a wide-angle camera, ample computing power, and enough torque to enable full-body motions, such as dynamic bipedal locomotion, kicking, and getting up.
使用迭代学习控制识别的伺服执行器模型实现合规机器人行为
DOI：
10.1007/978-3-662-44468-9_19
发表时间：
2014
期刊：
影响因子：
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作者：
Max Schwarz;Sven Behnke
通讯作者：
Sven Behnke