The experimental humanoid robot H7: a research platform for autonomous behaviour-Reference-Cited by-同舟云学术

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

Published:2006-11-17 Issue:1850 Volume:365 Page:79-107
ISSN:1364-503X
Container-title:Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences
language:en
Short-container-title:Phil. Trans. R. Soc. A.

Author:

Nishiwaki Koichi¹,Kuffner James¹²,Kagami Satoshi¹³,Inaba Masayuki³,Inoue Hirochika¹

Affiliation:

1. Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST)2-41-6, Aomi, Koto-ku, Tokyo 136-0064, Japan

2. The Robotics Institute, Carnegie Melon University5000 Forbes Avenue, Pittsburgh, PA 15213, USA

3. Graduate School of Information Science and Technology, The University of Tokyo7-3-1, Hongo, Bunkyo-ku, Tokyo 113-8856, Japan

Abstract

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 human-sized 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.

Publisher

The Royal Society

Subject

General Physics and Astronomy,General Engineering,General Mathematics

Link

https://royalsocietypublishing.org/doi/pdf/10.1098/rsta.2006.1921

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