Development of an Intelligent Humanoid Robot

这项研究是在：1；2.仿人机器人的设计与开发；3.带有分布式触摸传感器的三指机器人手的设计与开发；3 .未知物体抓取实验；5. Saika臂逆动力学模型的获取；6.练习接球。尝试运球。研究结果总结如下：一种重量轻（8 [kg]），开发成本低（8000美元）的人形机器人，它有2自由度（自由度）的脖子，5自由度的双臂，2自由度的双目摄像头，两只耳朵和一个躯干。设计并研制了一种附着在拟人机器人上的八自由度三指机械手。这只手的前臂有一个控制器，手掌和手指表面分布着87个触摸传感器。提出了一种通过摸索抓取未知物体的策略，并进行了实验。利用所研制的机械手进行了实验。结果证明了该策略的有效性。利用“反馈误差学习法”进行了逆动态模型的获取实验。在发达的类人机器人中实现了接铃行为。这个人形机器人有能力接住落球和扔出的球。

The research has been done on : 1. design and development of the humanoid Saika, 2. design and development of 3-fingered robot hand with distributed touch sensors, 3. experiment on grasping unknown objects, 4. acquisition of inverse dynamic model of Saika arms, 5. experiment on catching a ball, 6. experiment on dribbling a ball. The results of the research are summarized as follows :1. A light-weight (8 [kg]), low developing-cost (eight thousand US dollar) humanoid which has 2-DOF (degrees of freedom) neck, 5-DOF dual arm, 2-DOF binocular camera arrangement, two ears and a torso was developed.2. A 8-DOF 3-fingered robot hand which is attachable to the developed humanoid is designed and developed. The hand has a controller inside the forearm and has eighty-seven touch sensors distributed on the surface of the palm and fingers.3. A strategy for grasping unknown objects by groping is proposed and experimented. Experiments are performed using the developed robot hand. The results demonstrate the capability of the strategy.4. Experiments on acquisition of inverse dynamic model are performed using "feedback error learning method."5. Catching-a-bell behavior is implemented in the developed humanoid. The humanoid has a capability of catching a dropping ball and a thrown ball.