Design and implementation of reconfigurable modular humanoid robot architecture

Tetsuya Taira, Nobuhide Kamata, Nobuyuki Yamasaki

研究成果: Conference contribution

26 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
出版社IEEE Computer Society
ページ3566-3571
ページ数6
ISBN(印刷版)0780389123, 9780780389120
DOI
出版ステータスPublished - 2005

出版物シリーズ

名前2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

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

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