Development of an Autonomous Humanoid Robot, iSHA, for Harmonized Human-Machine Environment
Development of an Autonomous Humanoid Robot, iSHA, for Harmonized Human-Machine Environment
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开发自主人形机器人 iSHA，实现和谐的人机环境
DOI：
10.20965/jrm.2002.p0497
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
S. Hashimoto
中科院分区：
文献类型：
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作者：
Kenji Suzuki;Riku Hikiji;S. Hashimoto
我们的研究目标是建立一个和谐的人机环境，人类和机器可以以自然，无缝和直观的方式相互交互。沿着勾画的场景，我们一直在开发一个人形机器人“iSHA”（交互式系统的人形代理），这是设计来表现得像人，并与人互动。我们实现了一个智能机器人架构，它集成了面向目标的子系统，考虑到系统的灵活性和可扩展性。iSHA具有类似于人形状的上半身和具有两个轮子的移动的底座。上半身有一个头和两个手臂，有24个自由度。两个轮子安装在车身下面，提供安全和坚固的运动。每只眼睛配备一个小型CCD摄像头，头部嵌入小型麦克风，身体上的触觉传感装置分别为机器人提供双目视觉，听觉和触觉传感能力。
Our research aim is to build a harmonized humanmachine environment where humans and machines can interact with each other in a natural, seamless and intuitive manner. Along the sketched scenario, we have been developing a humanoid robot "iSHA" (interactive Systems for Humanoid Agent), which is designed to behave like and interact with humans. We implemented an intelligent robotic architecture, which integrates goal-oriented subsystems by taking the flexibility and scalability of the system into consideration. iSHA has an upper body resembling a human in shape and a mobile base with two wheels. The upper body with a head and two arms has 24 degrees-of-freedom. Two wheels equipped under the body provide safe and robust locomotion. Each eye equipped with a small CCD camera, small microphones embedded in the head, and touch sensory devices on the body respectively provide binocular vision, auditory and touch sensing ability to the robot.
连续人形交互:适应性、冗余性、灵活性合一的综合视角
DOI：
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发表时间：
2001
期刊：
Robotics and Autonomous Systems vol.37,issues2-3
影响因子：
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作者：
G.Cheng;A.Nagakubo and Y.Kuniyoshi
通讯作者：
A.Nagakubo and Y.Kuniyoshi