Volume 23 Issue 10/11- Publication Date: 1 October - November 2004
Special Issue on the 5th International Conference on Climbing and Walking Robots, CLAWAR 2002
Morph: A Desktop-Class Humanoid Capable of Acrobatic Behavior
T. Tawara, Y. Okumura, T. Furuta, M. Shimizu, M. Shimomura, K. Endo ERATO, Kitano Symbiotic Systems Project, JST, Corp. and H. Kitano Sony Computer Science Laboratories, Inc. and ERATO, Kitano Symbiotic Systems Project, JST, Corp.

A desktop class humanoid robot, morph3, developed for humanoid robotics is described. Consideration to body form is given in order to appeal to a general audience. 138 sensors such as accelerometers, rate gyros, pressure sensors, and force sensors are mounted on morph3. We describe the electrical network which is utilized on-board the humanoid body, and describe some advantages of the system. Actual dynamical behavior such as walking, turning, and motions using the whole-body is performed on the humanoid robot.

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