Abstract
A humanoid robot system called CENTAUR is presented in this paper including its mechanical structure, human interface, vision-based motion planning algorithm and embedded real-time controller. All of these subsystems are integrated to enable the robot to perform a variety of tasks with intelligence, sensing and actuation. CENTAUR consists of two arms, two hands, four legs. In addition to its human-like kinematic structure, it also has a stereo vision system for object recognition and a voice recognition/synthesis for human interface. The trajectories are generated from on-line motion planner integrated with vision as well as off-line motion planner. A new masterarm is developed for the operators to drive CENTAUR. The masterarm is equipped with electric brakes for force feedback. Due to the large number of joints, multi-layered controller structure has been developed from the low level distributed joint controllers to the high level supervisory controller. Not only its resemblance to a human, but also intelligence shows a prototype of the humanoid robot.
| Original language | English |
|---|---|
| Pages (from-to) | IV-948 - IV-953 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 4 |
| Publication status | Published - 1999 |
| Event | 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn Duration: 1999 Oct 12 → 1999 Oct 15 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Hardware and Architecture