Development of a light-weight biped humanoid robot

Development of a light-weight biped humanoid robot
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轻型双足人形机器人的研制

DOI：
10.1109/iros.2000.895196
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发表时间：
2000
期刊：
Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)
影响因子：
--
通讯作者：
M. Uchiyama
M. Uchiyama
中科院分区：
--
文献类型：
--
作者：
A. Konno;N. Kato;S. Shirata;T. Furuta;M. Uchiyama

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为了满足智能机器人研究平台的需求，研制了一种名为Saika-3的仿人机器人。它是一个具有双臂和机器人头部的自我维持的机器人。它配备了一台个人电脑（IBM PC/AT克隆），电池，无线以太网调制解调器，陀螺仪和电机驱动器内的身体。Saika-3可以通过无线以太网通信进行远程操作。为了研究控制策略，还开发了图形动态仿真器。本文介绍了赛卡-3的硬件概要和仿真结果。
In order to meet the demand of a research platform for intelligent robotics, a humanoid robot named Saika-3 has been developed. It is a self-sustaining biped robot with dual arms and a robotic head. It is equipped with a PC (IBM PC/AT clone), batteries, a wireless ethernet modem, a gyroscope and motor drivers inside its body. Saika-3 can be teleoperated via wireless' ethernet communication. A graphic dynamic simulator is also developed to study control strategy. The paper presents an outline of the hardware of Saika-3 and a simulation result.