Advertisement

Development and Evaluation of a Centaur Robot

  • Satoshi Tsuda
  • Kuniya Shinozaki
  • Ryohei Nakatsu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5309)

Abstract

Recently various types of robots are being studied and developed, which can be classified into two groups: humanoid type and animal type. Since each group has its own merits and demerits, a new type of robot is expected to emerge with greater strengths and fewer weaknesses. We have proposed a new type of robot called the “Centaur Robot” by merging the concepts of these two types of robots. This robot has a human-like upper body and a four-legged animal-like lower body. Due to this basic architecture, we have found that the robot has several merits, including human-like behaviors and stable walking. This time we have carried out the experiments to evaluate the stability of its waling motion. This paper described the detailed results of the experiments as well as the construction of the software/hardware of the robot.

Keywords

Tilt Angle Humanoid Robot Servo Motor Gyro Sensor Stable Walking 
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.

References

  1. 1.
  2. 2.
    Friedmann, M., Kiener, J., Petters, S., Thomas, D., Von Stryk, O., Sakakmoto, H.: Versatile, high-quality motions and behavior control of humanoid soccer robots. In: Workshop on Humanoid Soccer Robots of the 2006 IEEE International Conference on Humanoid Robots, pp. 9–16 (2006)Google Scholar
  3. 3.
  4. 4.
    Golubovic, D., Li, B., Hu, H.: A Hybrid Software Platform for Sony AIBO Robots. In: Polani, D., Browning, B., Bonarini, A., Yoshida, K. (eds.) RoboCup 2003. LNCS (LNAI), vol. 3020, pp. 478–486. Springer, Heidelberg (2004)CrossRefGoogle Scholar
  5. 5.
    Kerepesi, A., Kubinyi, E., Jonsson, G.K., Magnusson, M.S., Kiklosi, A.: Behavioural Comparison of Human-Animal (Dog) and Human-Robot (AIBO) Interactions. Behavioural Processes 73(1), 92–99 (2006)CrossRefGoogle Scholar
  6. 6.
    Ishiguro, H., Ono, T., Imai, M., Kanda, T.: Development of an interactive humanoid robot "Robovie" -An interdisciplinary approach. In: Jarvis, R.A., Zelinsky, A. (eds.) Robotics Research, pp. 179–191. Springer, Heidelberg (2003)CrossRefGoogle Scholar
  7. 7.
    Tsuda, S., Oda, Y., Shinozaki, K., Nakatsu, R.: Concept and Architecture of a Centaur Robot. In: Ma, L., Rauterberg, M., Nakatsu, R. (eds.) ICEC 2007. LNCS, vol. 4740, pp. 381–388. Springer, Heidelberg (2007)CrossRefGoogle Scholar
  8. 8.
    Wama, T., Higuchi, M., Sakamoto, H., Nakatsu, R.: Realization of Tai-chi Motion Using a Humanoid Robot. In: Rauterberg, M. (ed.) ICEC 2004. LNCS, vol. 3166, pp. 14–19. Springer, Heidelberg (2004)CrossRefGoogle Scholar
  9. 9.
    Shinozaki, K., Oda, Y., Tsuda, S., Nakatsu, R., Iwatani, A.: Study of Dance Entertainment Using Robot. In: Pan, Z., Aylett, R.S., Diener, H., Jin, X., Göbel, S., Li, L. (eds.) Edutainment 2006. LNCS, vol. 3942, pp. 473–483. Springer, Heidelberg (2006)CrossRefGoogle Scholar
  10. 10.
    Shinozaki, K., Iwatani, A., Nakatsu, R.: Concept and Construction of a Robot Dance System. The International Journal of Virtual Reality 6(3), 29–34 (2007)Google Scholar

Copyright information

© IFIP International Federation for Information Processing 2008

Authors and Affiliations

  • Satoshi Tsuda
    • 1
  • Kuniya Shinozaki
    • 1
  • Ryohei Nakatsu
    • 2
  1. 1.School of Science and TechnologyKwansei Gakuin UniversitySandaJapan
  2. 2.Interactive & Digital Media InstituteNational University of SingaporeSingapore

Personalised recommendations