Design and implementation of reconfigurable modular humanoid robot architecture

Tetsuya Taira, Nobuhide Kamata, Nobuyuki Yamasaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Citations (Scopus)

Abstract

This paper describes the design and implementation of a 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.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages3566-3571
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Modular humanoid robot
  • Reconfigurable humanoid robot
  • Robot architecture

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Taira, T., Kamata, N., & Yamasaki, N. (2005). Design and implementation of reconfigurable modular humanoid robot architecture. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3566-3571). [1545122] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545122