Two-armed bipedal robot that can walk, roll over and stand up
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 297-302
- https://doi.org/10.1109/iros.1995.525899
Abstract
Focusing attention on flexibility and intelligent reactivity in the real world, it is more important to build, not a robot that won't fall down, but a robot that can get up if it does fall down. This paper presents research on a two-armed bipedal robot, an apelike robot, which can perform biped walking, rolling over and standing up. The robot consists of a head, two arms, and two legs. The control system of the biped robot is designed based on the remote-brained approach in which a robot does not bring its own brain within the body and talks with it by radio links. This remote-brained approach enables a robot to have both a heavy brain with powerful computation and a lightweight body with multiple joints. The robot can keep balance while standing using tracking vision, detect whether it falls down or not by a set of vertical sensors, and perform a getting up motion by coordinating two arms and two legs. The developed system and experimental results are described with illustrated real examples.Keywords
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