Design and development of research platform for perception-action integration in humanoid robot: H6

Nishiwaki, Koichi; Sugihara, Tomomichi; Kagami, Satoshi; Kanehiro, Fumio; Inaba, Makoto; Inoue, H.

doi:10.1109/iros.2000.895195

Cited by 137 publications

(74 citation statements)

References 3 publications

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“…Current large and medium scale anthropometric humanoids as H6, H7 [48], P2 [26], ASIMO [27], JOHNNIE, LOLA [41], WABIAN-2 [50], KHR-2 [37], HRP, HRP-2 [34], and SAIKA [58] represent major achievements over the last years. In these systems, locomotion is mostly realized with stiff actuation in combination with rigid high geared transmission mechanisms.…”

Section: Compliance For Walking and Runningmentioning

confidence: 99%

Kick it with elasticity: Safety and performance in human–robot soccer

Haddadin

Laue²,

Frese³

et al. 2009

Robotics and Autonomous Systems

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The RoboCup community has one definite goal [38]: winning against the human world soccer champion team by the year 2050. This implies real tackles and fouls between humans and robots, rising safety concerns for the robots and even more important for the human players. Nowadays, similar questions are discussed in the field of physical human-robot interaction (pHRI), but mainly in the context of industrial and service robotics applications.The first part of our paper is an attempt for a pHRI view on human-robot soccer. We take scenes from real soccer matches and discuss what could have happened if one of the teams consisted of robots instead of humans. The most important result is that elastic joints are needed to reduce the impact during collisions. The second and third part consider conversely, how the robot can handle the impact of kicking the ball and how it can reach the velocity of human-level soccer. Again joint elasticity is the key point.Overall, the paper analyzes a vision far ahead. However, all our conclusions are based on concrete simulations, experiments, derivations, or findings from sports science, forensics, and pHRI.

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Section: Compliance For Walking and Runningmentioning

confidence: 99%

Kick it with elasticity: Safety and performance in human–robot soccer

Haddadin

Laue²,

Frese³

et al. 2009

Robotics and Autonomous Systems

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“…In particular, H7 is a revised and improved version of the H6 humanoid robot (Nishiwaki et al 2000), which has a similar joint structure and d.f. arrangement.…”

Section: Hardware Design and Software Architecturementioning

confidence: 99%

The experimental humanoid robot H7: a research platform for autonomous behaviour

Nishiwaki

Kuffner

Kagami

et al. 2006

Phil. Trans. R. Soc. A.

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This paper gives an overview of the humanoid robot 'H7', which was developed over several years as an experimental platform for walking, autonomous behaviour and human interaction research at the University of Tokyo. H7 was designed to be a humansized robot capable of operating autonomously in indoor environments designed for humans. The hardware is relatively simple to operate and conduct research on, particularly with respect to the hierarchical design of its control architecture. We describe the overall design goals and methodology, along with a summary of its online walking capabilities, autonomous vision-based behaviours and automatic motion planning. We show experimental results obtained by implementations running within a simulation environment as well as on the actual robot hardware.

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“…This biped which was able to perform simple static walking was followed by a long and distinguished series of robots leading to the most current developments of WABIAN I and II [1]. At the University of Tokyo research efforts on human like robots has led to the development of H6 and H7 [2]. Within the commercial arena there were also robots of considerable distinction including those developed by HONDA.…”

Section: Introductionmentioning

confidence: 99%

Lower Body Design of the `iCub' a Human-baby like Crawling Robot

Tsagarakis

Sinclair

Becchi

et al. 2006

2006 6th IEEE-RAS International Conference on Humanoid Robots

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-The development of robotic cognition and a greater understanding of human cognition form two of the current greatest challenges of science. Within the RobotCub project the goal is the development of an embodied robotic child (iCub) with the physical and ultimately cognitive abilities of a 2 ½ year old human baby. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. In this paper the design of the mechanisms adopted for lower body and particularly for the leg and the waist are outlined. This is accompanied by discussion on the actuator group realisation in order to meet the torque requirements while achieving the dimensional and weight specifications. Estimated performance measures of the iCub are presented.

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Design and development of research platform for perception-action integration in humanoid robot: H6

Cited by 137 publications

References 3 publications

Kick it with elasticity: Safety and performance in human–robot soccer

Kick it with elasticity: Safety and performance in human–robot soccer

The experimental humanoid robot H7: a research platform for autonomous behaviour

Lower Body Design of the `iCub' a Human-baby like Crawling Robot

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