Sensor system of a small biped entertainment robot

被引：9

作者：

Ishida, T ^{[1
]}

Kuroki, Y ^{[1
]}

机构：

[1] Sony Corp, Entertainment Robot Co, Minato Ku, Tokyo 1050004, Japan

来源：

ADVANCED ROBOTICS | 2004年 / 18卷 / 10期

关键词：

humanoid robot; biped robot; entertainment robot; sensors;

D O I：

10.1163/1568553042674699

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

SDR-4X II is the latest prototype model of a small biped entertainment robot. It is the improved model of SDR-4X. In this paper we report on the sensing system of thiS robot, which is important and essential for a small biped entertainment robot which will be used in the home environment. One technology is the design of the motion sensing system, i.e. the inclination Sensor system and the force sensor system which obtains the inclination of the trunk and the foot with force. Another technology is the real-world sensing system. One aspect is the touch sensing system. The robot is used in a normal home environment. so we should strongly consider the safety aspects for human. Another is the vision sensor system. The configuration and the distance image acquisition are explained. Next is the audio sensor system which obtains the sound and the voice information. The hardware system and the direction recognition are explained. These sensing systems are the key to making the biped robot walking and dynamic motion highly stable, and understanding the real-world around the robot.

引用

页码：1039 / 1052

页数：14

共 8 条

[1]

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[2]

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[3]

ISHIDA T, 2002, P 3 IARP INT WORKSH, P116

[4]

ISHIDA T, 2003, P RO MAN

[5]

KUROKI Y, 2001, P IEEE RAS INT C HUM, P181

[6]

NAGASAKA K, 1999, P 1999 SMC, pVI908

[7]

Yamaguchi J, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P368, DOI 10.1109/ROBOT.1999.770006

[8]

YAMAGUCHI J, 1993, P IEEE RSJ INT C INT, P561

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