|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.
|Return to Contents|