Development of a humanoid robot CENTAUR-design, human interface, planning and control of its upper-body
Development of a humanoid robot CENTAUR-design, human interface, planning and control of its upper-body
复制标题
人形机器人 CENTAUR 的开发——其上半身的设计、人机界面、规划和控制
DOI：
10.1109/icsmc.1999.812538
复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
Chongwon Lee
中科院分区：
文献类型：
--
作者：
Munsang Kim;Sungchul Kang;Sooyong Lee;W. Chung;K. Cho;Chongwon Lee
介绍了一种仿人机器人系统CENTAUR，包括其机械结构、人机界面、基于视觉的运动规划算法和嵌入式实时控制器。所有这些子系统都集成在一起，使机器人能够执行各种智能，传感和驱动任务。半人马座由两个手臂，两只手，四条腿组成。除了具有类似人类的运动学结构外，它还具有用于物体识别的立体视觉系统和用于人机界面的语音识别/合成。轨迹生成从一个在线的运动规划集成视觉以及离线运动规划。开发了一种新的主臂，用于操作员驱动CENTAUR。主臂配备有用于力反馈的电动制动器。由于大量的关节，一个多层的控制器结构已被开发，从低层次的分布式关节控制器的高层监督控制器。
A humanoid robot system called CENTAUR is presented including its mechanical structure, human interface, vision-based motion planning algorithm and embedded real-time controller. All of these subsystems are integrated to enable the robot to perform a variety of tasks with intelligence, sensing and actuation. CENTAUR consists of two arms, two hands, four legs. In addition to its human-like kinematic structure, it also has a stereo vision system for object recognition and a voice recognition/synthesis for human interface. The trajectories are generated from an online motion planner integrated with vision as well as an off-line motion planner. A new master arm is developed for the operators to drive CENTAUR. The master arm is equipped with electric brakes for force feedback. Due to the large number of joints, a multi-layered controller structure has been developed from the low level distributed joint controllers to the high level supervisory controller.