morph3: a compact-size humanoid robot system capable of acrobatic behavior

Okumura, Yu; Tawara, T.; Furuta, Takayuki; Endo, Ken; Shimizu, Masaharu; Shimomura, Masaki; Kitano, Hiroaki

doi:10.1163/1568553041719447

Cited by 7 publications

(2 citation statements)

References 2 publications

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“…Moreover, there is great interest in developing humanoid robots (8,9) that can sense shapes (10,11), textures (12,13), and hardness (14) and manipulate complex objects (11), which are not readily possible by vision alone. Touch (or tactile) sensors are usually made as micro-electromechanical systems composed of micromachined deformable components (15) or by integrating chip with electronic circuit and strain sensitive materials, such as magento-resistive ceramics (16), piezoelectric polymers (17,18), and strain sensitive conducting elastomers (19,20).…”

Section: High-resolution Thin-film Device To Sense Texture By Touchmentioning

confidence: 99%

High-Resolution Thin-Film Device to Sense Texture by Touch

Maheshwari

Saraf

2006

Science

265

208

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Touch (or tactile) sensors are gaining renewed interest as the level of sophistication in the application of minimum invasive surgery and humanoid robots increases. The spatial resolution of current large-area (greater than 1 cm 2 ) tactile sensor lags by more than an order of magnitude compared with the human finger. By using metal and semiconducting nanoparticles, a ∼100-nm-thick, large-area thin-film device is self-assembled such that the change in current density through the film and the electroluminescent light intensity are linearly proportional to the local stress. A stress image is obtained by pressing a copper grid and a United States 1-cent coin on the device and focusing the resulting electroluminescent light directly on the charge-coupled device. Both the lateral and height resolution of texture are comparable to the human finger at similar stress levels of ∼10 kilopascals.

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Section: High-resolution Thin-film Device To Sense Texture By Touchmentioning

confidence: 99%

High-Resolution Thin-Film Device to Sense Texture by Touch

Maheshwari

Saraf

2006

Science

265

208

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“…One example is a humanoid with acrobatic motion capability (Morph3), as demonstrated in [58]. The robot used a tactile sensing shell in order to get pressure feedback for highly articulated motion.…”

Section: Specific Functionality Approachmentioning

confidence: 99%

HBS-1: A Modular Child-Size 3D Printed Humanoid

Larkin

Potnuru

et al. 2016

Robotics

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An affordable, highly articulated, child-size humanoid robot could potentially be used for various purposes, widening the design space of humanoids for further study. Several findings indicated that normal children and children with autism interact well with humanoids. This paper presents a child-sized humanoid robot (HBS-1) intended primarily for children's education and rehabilitation. The design approach is based on the design for manufacturing (DFM) and the design for assembly (DFA) philosophies to realize the robot fully using additive manufacturing. Most parts of the robot are fabricated with acrylonitrile butadiene styrene (ABS) using rapid prototyping technology. Servomotors and shape memory alloy actuators are used as actuating mechanisms. The mechanical design, analysis and characterization of the robot are presented in both theoretical and experimental frameworks.

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Tastsysteme mit künstlichem Tastsinn wie beim menschlichen Finger

Maheshwari

Saraf

2008

Angewandte Chemie

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Dank unseres Tastsinns können wir die Oberflächentextur und Form von Gegenständen erkennen und Objekte ergreifen. Für die Herstellung einer elektronischen Haut, die für humanoide Roboter oder für die minimal‐invasive und ferngesteuerte Chirurgie den Tastsinn bereitstellen soll, müssen sowohl die (passiven) mechanischen Eigenschaften der Dermis als auch die charakteristischen Merkmale ihres Fühlmechanismus, besonders die digitale Funktion der Neuronen, nachgebildet werden. Dank des Einsatzes verschiedener Materialien und physikalischer Konzepte sind zwar erhebliche Fortschritte bei der Entwicklung einer elektronischen Haut zu verzeichnen, die Nachbildung des Tastsinns ist aber nach wie vor eine anspruchsvolle Aufgabe. Vor kurzem wurde ein Nanosystem entwickelt, das eine ähnliche Tastauflösung wie ein menschlicher Finger aufweist; verglichen mit anderen Systemen mit einer Kontaktfläche von über 1 cm2 ist dies eine Verbesserung um mehr als eine Größenordnung. Das neue System mit seinen robusten mechanischen Eigenschaften ist daher ein wichtiger Schritt hin zur Realisierung eines künstlichen Tastsinns.

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morph3: a compact-size humanoid robot system capable of acrobatic behavior

Cited by 7 publications

References 2 publications

High-Resolution Thin-Film Device to Sense Texture by Touch

High-Resolution Thin-Film Device to Sense Texture by Touch

HBS-1: A Modular Child-Size 3D Printed Humanoid

Tastsysteme mit künstlichem Tastsinn wie beim menschlichen Finger

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