Mechanical system of a small biped entertainment robot
- 30 March 2004
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1129-1134
- https://doi.org/10.1109/iros.2003.1248796
Abstract
SDR-4X is the latest prototype model which is a small hu- manoid type robot. We reported the outline of this robot last year. In this paper we discuss more about mechanical sys- tem which is important and original for a small biped enter- tainment robot which will be used in home environment. One technology is the design of actuators alignment in the body which enables dynamic motion performance. Another tech- nology is the actuator technology which we originally de- veloped named Intelligent Servo Actuator ( ISA ) . We ex- plain the specification and the important technical points. Next technology is the sensor system which supports the high performance of the robot, especially the detection of outside objects, ability of stable walking motion and safe interac- tion with human. The robot is used in normal home envi- ronment, so we should strongly consider the falling-over of the robot. We propose the ideas against falling-over which makes the robot as safe as possible.Keywords
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