Developmental methodology for building whole body humanoid system
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1210-1215
- https://doi.org/10.1109/iros.1999.812844
Abstract
In this paper, a developmental construction methodology for a humanoid robot system is proposed. "Developmental" means that a versatile robot system is inherently a target to be developed incrementally, repetitively with inheriting results of former generations. Based on this methodology, the developmental system consists of (1) the hardware independent robot model for a skill development, (2) an action space representation for a functional development and (3) a robot body which has an onbody network for a physical development. On this system, five humanoid robots have been developed and locomotion behaviors have been realized.Keywords
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