Design and implementation of reconfigurable modular humanoid robot architecture
Design and implementation of reconfigurable modular humanoid robot architecture
复制标题
可重构模块化人形机器人架构的设计与实现
DOI：
10.1109/iros.2005.1545122
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
N. Yamasaki
中科院分区：
文献类型：
--
作者：
T. Taira;Nobuhide Kamata;N. Yamasaki
本文描述了可重构模块化仿人机器人体系结构的设计与实现。我们提出的体系结构有三个关键概念：1)可重构的机械结构；2)分层的软件模型；3)端到端的实时通信机制。我们提出的可重构模块化仿人机器人由手臂机器人、移动机器人和头部机器人等多个功能机器人组成，实现了一种有效的可重构扩展机构。根据研究人员和用户的多种用途，我们的可重构模块化仿人机器人可以用作某些类型的仿人机器人，也可以用作几个自主功能机器人。我们设计并开发了一个由五个功能机器人组成的模块化仿人机器人原型，以评估我们提出的体系结构。实验结果表明，该可重构机构可以实现模块化仿人机器人的可扩展性。
This paper describes the design and implementation of reconfigurable modular humanoid robot architecture. Our proposed architecture features three key concepts: 1) a reconfigurable mechanical structure; 2) a layered software model; and 3) an end-to-end real-time communication mechanism. Our proposed reconfigurable modular humanoid robot consists of several functional robots such as an arm robot, a mobile robot, and a head robot to realize an effective reconfigurable mechanism for expandability. Depending on many purposes of researchers and users, our reconfigurable modular humanoid robot can be used as some kinds of humanoid robots or as several autonomous functional robots. We design and develop a prototype modular humanoid robot consisting of five functional robots for evaluating our proposed architecture. The results of the experiences show the modular humanoid robot can achieve expandability by our reconfigurable mechanism.