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Design and development of a fully autonomous decimeter-scale humanoid robot

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7 Author(s)
Cerdena, T. ; Dept. of Syst. Eng. & Autom., & Comput. Archit., Univ. of La Laguna, La Laguna ; Callero, Y. ; Perea, D. ; Betancor, P.
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A decimeter-scale humanoid robot is proposed and realized in this paper. The humanoid robot is fully autonomous in terms of sensing, processing and power supply. In addition, the robot has a low cost design. Sensing capabilities are provided by a camera and computer vision algorithms. Processing power is provided by a PC/104. Robot gait generation is based in sinusoid wave parameterization. The physical structure was built using a KHR-1 model as a base. With this equipment, the robot can manage itself in a controlled environment with obstacles, and find a route among them. The software components developed to manage the system are fully modular and layered, and all of them run in the PC/104. The robot can be monitored remotely by wireless radio link.

Published in:

Mechatronics, 2009. ICM 2009. IEEE International Conference on

Date of Conference:

14-17 April 2009