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Low-level Autonomy of the Humanoid Robots H6 & H7

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Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 6))

Abstract

This paper describes our research efforts aimed at developing several low-level autonomous capabilities required for remote-operation tasks involving humanoid-type robots. The low-level autonomy considered falls into three categories: 1) walking functions, such as online dynamic balance compensation and online walking trajectory generation, 2) manipulation functions such as arm motion planning and 3D vision based interactive planning, and 3) human interaction functions such as human identification and tracking, face recognition, and voice recognition/speech synthesis. We describe experimental results implemented on the humanoid robot research platforms H6 and H7.

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Author information

Authors and Affiliations

  1. Digital Human Lab., National Institute of Advanced Industrial Science and Technology, 2-41-6, Aomi, Koto-ku, Tokyo, 135-0064, Japan

    Satoshi Kagami

  2. Dept. of Mechano-Informatics, School of Information Science and Technology, Univ. of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Koichi Nishiwaki, James Kuffner, Kei Okada, Yasuo Kuniyoshi, Masayuki Inaba & Hirochika Inoue

Authors
  1. Satoshi Kagami
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  2. Koichi Nishiwaki
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  3. James Kuffner
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  4. Kei Okada
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  5. Yasuo Kuniyoshi
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  6. Masayuki Inaba
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  7. Hirochika Inoue
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Editor information

Editors and Affiliations

  1. Dept. of Electrical and Computer Systems Engineering, Monash University, Clayton, VIC, 3800, Australia

    Raymond Austin Jarvis

  2. Dept. of Systems Engineering, The Australian National University, Canberra, ACT, 0200, Australia

    Alexander Zelinsky

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© 2003 Springer-Verlag Berlin Heidelberg

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Kagami, S. et al. (2003). Low-level Autonomy of the Humanoid Robots H6 & H7. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_6

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  • DOI: https://doi.org/10.1007/3-540-36460-9_6

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00550-6

  • Online ISBN: 978-3-540-36460-3

  • eBook Packages: Springer Book Archive

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