Development of a humanoid robot CENTAUR - design, human interface, planning and control of its upper-body

Munsang Kim, Sungchul Kang, Sooyong Lee, Woojin Chung, Kyoungrae Cho, Chong Won Lee

Research output: Contribution to journalConference articlepeer-review

5 Citations (Scopus)


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 languageEnglish
Pages (from-to)IV-948 - IV-953
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1999
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: 1999 Oct 121999 Oct 15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture


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