Development of an Intelligent Humanoid Robot

研究内容包括：1.设计和开发的人形赛卡，2。具有分布式触摸传感器的三指机器人手的设计和开发，3。抓取未知物体的实验，4.获得了赛卡臂的逆动力学模型，5.实验上接球，6.练习运球。主要研究成果如下：1.研制了一种重量轻（8 [kg]）、开发成本低（8000美元）的仿人机器人，该机器人具有2自由度颈部、5自由度双臂、2自由度双目摄像机、两只耳朵和一个躯干.设计并研制了一种可附着在所研制仿人机器人上的8自由度三指机器人手。手有一个控制器内的前臂和87触摸传感器分布在手掌和手指的表面。3.提出了一种通过摸索实现未知物体抓取的策略，并进行了实验。使用开发的机器人手进行实验。实验结果验证了该策略的有效性.利用“反馈误差学习法”进行了逆动力学模型的获取实验。“5.在开发的类人机器人中实现了抓铃行为。人形机器人具有接住下落的球和投掷的球的能力。

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.