Design and implementation of reconfigurable modular humanoid robot architecture

Tetsuya Taira, Nobuhide Kamata, Nobuyuki Yamasaki

研究成果: Conference contribution

23 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ1071-1076
ページ数6
DOI
出版物ステータスPublished - 2005
イベントIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
継続期間: 2005 8 22005 8 6

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Canada
Edmonton, AB
期間05/8/205/8/6

    フィンガープリント

ASJC Scopus subject areas

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

これを引用

Taira, T., Kamata, N., & Yamasaki, N. (2005). Design and implementation of reconfigurable modular humanoid robot architecture. : 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1071-1076). [1545122] https://doi.org/10.1109/IROS.2005.1545122