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Design, Implementation, and Remote Operation of the Humanoid H6

  • Satoshi Kagami
  • Koichi Nishiwaki
  • James J. KuffnerJr.
  • Tomomichi Sugihara
  • Masayuki Inaba
  • Hirochika Inoue 
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)

Abstract

The paper describes the humanoid robot “H6”, which was designed to serve as a platform for experimental research on the development of advanced humanoid-type robots. The key features of the design of H6 include: 1) complete, 35-DOF human-shaped body with joints having sufficient torque to support full-body motion, 2) high-performance PC/AT compatible on-board computer running RT-Linux, a real-time OS that facilitates simultaneous low-level and high-level control, 3) fully self-contained on-board power supply and wireless network conrection, that allows remote operation via radio ethernet, 4) software for dynamic walking trajectory generation, motion planning, and 3D stereo vision. We give an overview of both the hardware and software design components of H6, and discuss some experimental results involving remote operation.

Keywords

Motion Planning Humanoid Robot Trajectory Generation Remote Operation Force Sense Resistor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Satoshi Kagami
    • 1
  • Koichi Nishiwaki
    • 1
  • James J. KuffnerJr.
    • 1
  • Tomomichi Sugihara
    • 1
  • Masayuki Inaba
    • 1
  • Hirochika Inoue 
    • 1
  1. 1.Dept. of Mechano-InformaticsUniv. of TokyoTokyoJapan

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