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In November 2000, we proposed a small biped entertainment robot SDR-3X (Sony dream robot, a prototype) which realized the dynamic and elegant motion performances. Then, in March 2002, we released the development of SDR-4X which was an advanced model and had a capability of a real-time integrated adaptive motion control. And then, in March 2003, we released the latest prototype model SDR-4XII which realizes advanced motion control functions for safe in addition to its previous models. To realize the capabilities of SDR robot, there are many required performances for its actuators. In this paper, we describe the outline of the robotic actuator development and specific functions which are contributed to SDR-4XII's control.