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Humanoid robot that achieves bipedal walk, visual recognition, and multiple finger grasp

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5 Author(s)
Tokuo Tsuji ; Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan ; Kenji Kaneko ; Kensuke Harada ; Fumio Kanehiro
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In this paper, we develop a humanoid robot HRP-3χ where a multi-fingered hand is attached to the original HRP-3. By installing the visual recognition module for a single camera and the grasp planning module for the multi-fingered hand to the control software, HRP-3χ can recognize the position/orientation of the object and can calculate its grasping posture at online. Here, visual recognition module of a single camera is shown to be efficient. The effectiveness of the proposed HRP-3χ is confirmed by experimental result in which the robot achieves bipedal walk, visual recognition, and multiple finger grasp.

Published in:

Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on

Date of Conference:

26-28 Oct. 2011